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

Abstract

The present disclosure proposes a satellite test system, method, apparatus, communication equipment and storage medium, which relate to the field of satellite communication technology. The method includes: obtaining a pseudo-range observation between a target satellite and a communication and navigation integrated signal receiver based on a communication and navigation integrated signal; obtaining the on-board transmission delay of the target satellite based on the pseudo-range observation and the GNSS signal; and testing the target satellite based on the on-board transmission delay. As a result, the GNSS signal receiver and the communication and navigation integrated 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 the ground clock drift during the test process can be eliminated, thereby improving the accuracy of the satellite test. In addition, the target satellite can be tested taking into account the on-board transmission delay, 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.

Description

Technical Field

[0001] The present disclosure relates to the field of satellite communication technology, and in particular to a satellite testing 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 conducted after a satellite is launched and successfully enters its intended orbit. This is to ensure that the satellite and its payload can function normally according to design requirements and meet mission requirements. However, the relevant technologies for satellite on-orbit testing have 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 a certain extent.

[0004] An embodiment of the first aspect 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 an integrated communication and navigation signal receiver based on a communication and navigation integrated signal; obtaining an on-board launch 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 launch delay.

[0006] An embodiment of 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 embodiment of the present disclosure. The device includes: a first acquisition module, used to obtain a pseudo-range observation value between a target satellite and an integrated communication and navigation 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 to enable the at least one processor to 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, and the received signal includes a computer instruction stored in the memory. When the processor executes the computer instruction, the communication device implements the method described in the second aspect of the embodiment 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, the method 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 quantity between the target satellite and the integrated communication and navigation signal receiver is obtained, and based on the pseudo-range observation quantity 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, and the on-board launch delay can be taken into account to test the target satellite, 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 will be 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 readily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0014] Figure 1 A schematic structural diagram of a satellite test system provided by an embodiment of the present disclosure;

[0015] Figure 2 A flowchart of a satellite testing method provided by an embodiment of the present disclosure;

[0016] Figure 3 A flowchart of another satellite testing method provided by an embodiment of the present disclosure;

[0017] Figure 4 A flowchart of another satellite testing method provided by an embodiment of the present disclosure;

[0018] Figure 5 A flowchart of another satellite testing method provided by an embodiment of the present disclosure;

[0019] Figure 6 A flowchart of another satellite testing method provided by an embodiment of the present disclosure;

[0020] Figure 7 A flowchart of another satellite testing method provided by an embodiment of the present disclosure;

[0021] Figure 8 A schematic structural diagram of a satellite testing device provided in an embodiment of the present disclosure;

[0022] Figure 9 is a block diagram of a communication device for implementing a satellite testing method according to an exemplary embodiment;

[0023] Figure 10 The figure is a structural diagram of a chip according to an exemplary embodiment. DETAILED DESCRIPTION

[0024] The following describes in detail embodiments of the present disclosure, examples of which 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.

[0025] After years of development, a relatively comprehensive theoretical framework and on-orbit testing methods for traditional GNSS (Global Navigation Satellite System) systems have been established both domestically and internationally. Traditional GNSS on-orbit testing methods can be summarized as the use of various standard instruments to continuously monitor the power, spectrum, and modulation characteristics of received signals. High-speed data acquisition equipment is used to acquire navigation signals offline, and relevant analysis software is used to perform high-precision offline data analysis to evaluate the received signal's power spectrum envelope, time-domain waveform, modulation characteristics, and correlation characteristics. Furthermore, multiple monitoring receivers are used to continuously monitor navigation signals, and the output of these receivers, such as pseudoranges and carrier phase, is used to assess signal stability and consistency.

[0026] The integrated communication and navigation signal referred to in this disclosure combines communication and navigation functions within a single signal. This signal design is designed to simultaneously achieve efficient data transmission (such as voice, text, or multimedia information) and accurate positioning services. The integrated communication and navigation signal has the following characteristics: 1. It utilizes frequency-division and time-division multiplexing, with pilot signals (or continuous waves) and spread-spectrum data signals used for navigation and positioning in specific frequency subbands. In the time domain, it exhibits bursty, discontinuous transmission, with a complete signal frame lasting only milliseconds. 2. Satellites in lower orbits have short transit times and limited coverage. Receivers typically use the instantaneous Doppler information of the continuous-wave component of the integrated communication and navigation signal for single-satellite / multi-satellite multi-epoch positioning and specially designed spread-spectrum sequences for ranging and timing. During testing, ground-based clock errors and drift can significantly impact test results. 3. Time-frequency deviations between the communication and navigation systems, and between the satellite and ground systems, can affect the evaluation of pseudorange, Doppler measurements, and positioning and timing results. These deviations should be uniformly calibrated during testing.

[0027] Traditional GNSS on-orbit testing methods are primarily suitable for evaluating continuous navigation signals transmitted by medium- and high-Earth orbit navigation satellites. The pseudorange and carrier phase measurements of spread-spectrum signals are the primary targets of these tests and evaluations. However, the mathematical models used for the instantaneous Doppler and pseudorange measurements of bursty, discontinuous, integrated communication and navigation signals are not well-suited. For example, the accuracy of traditional GNSS pseudorange and carrier phase measurements can be evaluated using the inter-epoch high-order difference method. However, due to the inherent dynamics of low-Earth orbit satellites and the discontinuous nature of their signal transmission, this method is no longer applicable. Regarding positioning and timing accuracy, traditional GNSS uses the three-sphere intersection principle for positioning and timing. The clock error and drift between the terminal and the satellite can be directly calculated during positioning and velocity measurement and used for positioning accuracy assessment. However, for low-Earth orbit satellites, when using a single-satellite, multi-epoch algorithm based on instantaneous Doppler, the terminal's own clock drift will affect the Doppler estimation accuracy and positioning performance. During timing, the terminal's own clock error and onboard hardware latency (i.e., onboard transmission latency) also affect timing accuracy. In addition, there is a lack of a unified on-orbit calibration method for communication and navigation time and space references.

[0028] 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 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 GNSS signals sent by GNSS satellites, and the integrated communication and navigation signal receiver is used to receive integrated communication and navigation signals sent by the target satellite.

[0029] It should be noted that the GNSS signal receiver and the integrated communication and navigation signal receiver are collocated according to the zero baseline, meaning that the two receivers are almost completely aligned, or the distance between them is extremely small. This allows the two receivers to simultaneously receive nearly identical signal environment influences, resulting in highly correlated and comparable observation data. Furthermore, the GNSS signal receiver and the integrated communication and navigation signal receiver share the same clock source, enabling time synchronization between the two receivers. This unifies the ground time and frequency reference, eliminates the effects of ground clock drift during testing, and improves satellite testing accuracy.

[0030] There are not too many restrictions on the target satellites, for example, low-orbit satellites can be included.

[0031] Optionally, the GNSS signal receiver can output dual-frequency high-precision observation quantities.

[0032] Alternatively, as 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.

[0033] The ground information processing system is configured to receive observations from an onboard orbit determination receiver transmitted by a target satellite, determine the target satellite's orbit based on the observations from the onboard orbit determination receiver, obtain the target satellite's orbital information, and perform clock error calculation based on the observations from the onboard orbit determination receiver to obtain a first clock error between the target satellite and the integrated communication and navigation signal receiver, as well as a clock drift between the target satellite and the integrated communication and navigation signal receiver. The ground information processing system may transmit the orbit determination and clock error calculation results for the target satellite to the integrated communication and navigation signal receiver, wherein the orbit determination and clock error calculation results include the target satellite's orbital information, the first clock error, and the clock drift between the target satellite and the integrated communication and navigation signal receiver.

[0034] It should be noted that orbit determination and clock error calculation can both be achieved using relevant technologies, and no further restrictions are made here.

[0035] A spaceborne orbit determination receiver receives GNSS signals from GNSS satellites and derives its observations based on these signals. There are no specific restrictions on the observations used by the spaceborne orbit determination receiver, but these may include, for example, pseudoranges between GNSS satellites and the spaceborne orbit determination receiver and Doppler measurements of GNSS signals.

[0036] 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 observation quantities of the GNSS signal receiver and the integrated communication and navigation signal receiver with high-precision timestamps.

[0037] Optionally, the method also includes calibrating the position of the GNSS signal receiver or the position of the communication and navigation integrated signal receiver, the receiving channel delay of the communication and navigation integrated signal receiver, and the antenna phase center of the communication and navigation integrated signal receiver. It can be understood that the positions of the GNSS signal receiver and the communication and navigation integrated signal receiver are almost completely overlapping. 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 communication and navigation integrated signal receiver. 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.

[0038] 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 is eliminated, thereby improving the accuracy of satellite testing. In addition, based on the integrated communication and navigation signal, a pseudo-range observation quantity between the target satellite and the integrated communication and navigation signal receiver is obtained. Based on the pseudo-range observation quantity 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. This means that the on-board launch delay can be taken into account when testing the target satellite, greatly eliminating 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 the accuracy of pseudo-range observation quantities and timing accuracy.

[0039] 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.

[0040] Furthermore, the present disclosure can eliminate the effects of ground clock drift during testing. When receiving discontinuous signals, the ground receiver's observed values remain unaffected by ground clock drift when the signal is interrupted, making it suitable for testing short-duration, discontinuous, integrated signals. With continuous signals, the receiver can continuously receive the signal and output the observed values.

[0041] The satellite testing method, apparatus, and communication device according to the embodiments of the present disclosure are described below with reference to the accompanying drawings.

[0042] Figure 2 This is a flow chart of a satellite testing method provided by an embodiment of the present disclosure. It is applied to a satellite testing system. Figure 2 As shown, the satellite testing method may include the following steps:

[0043] S201, 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.

[0044] It should be noted that the satellite testing method of the embodiments of the present disclosure may be executed by hardware devices with data information processing capabilities and / or the necessary software to drive the hardware devices. Optionally, the execution entities include ground information processing systems, servers, GNSS signal receivers, integrated communication and navigation signal receivers, etc.

[0045] It should be noted that the content related to obtaining the pseudo-range observation quantity based on the integrated communication and guidance signal can be implemented by using any pseudo-range observation quantity acquisition method in the relevant technology, and no excessive restrictions are made here.

[0046] Optionally, based on the communication-guidance integrated signal, a pseudo-range observation amount between the target satellite and the communication-guidance integrated signal receiver is obtained, including processing the spread spectrum component of the communication-guidance integrated signal to obtain the pseudo-range observation amount.

[0047] Optionally, obtaining a pseudorange observation between the target satellite and the integrated communication and navigation signal receiver based on the integrated communication and navigation signal includes obtaining the pseudorange observation based on a transmission duration of the integrated communication and navigation signal. It should be noted that the transmission duration of the integrated communication and navigation signal refers to the transmission duration of the integrated communication and navigation signal from the target satellite to the integrated communication and navigation signal receiver.

[0048] 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.

[0049] S202: Obtain the onboard transmission delay of the target satellite based on the pseudorange observation and the GNSS signal.

[0050] It should be noted that onboard transmission delay refers to the transmission delay of the integrated communication and navigation signal. Alternatively, onboard transmission delay refers to the transmission delay of the communication signal compared to the navigation signal in the integrated communication and navigation signal, that is, the transmission delay of the target satellite's communication channel, which is also the main factor causing time-frequency deviation between the communication system and the navigation system.

[0051] In the embodiments of the present disclosure, the onboard transmission delay of the target satellite is obtained based on the pseudorange observations and the GNSS signals, including the following possible implementations:

[0052] 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.

[0053] It is understandable that the onboard transmission delay will cause errors in the transmission duration of the integrated communication and guidance signal, which in turn will cause target errors in the pseudo-range observation.

[0054] Optionally, obtaining a target error of the pseudorange observation caused by the on-board transmission delay based on the GNSS signal includes obtaining a total error of the pseudorange observation, obtaining an error of the pseudorange observation caused by factors other than the on-board transmission delay based on the GNSS signal, and removing the error of the pseudorange observation caused by factors other than the on-board transmission delay from the total error to obtain the target error. It should be noted that the relevant details regarding obtaining the total error of the pseudorange observation can be found in the following embodiments and will not be further described here.

[0055] It is understandable that in addition to the onboard transmission delay, other factors may also cause errors in pseudo-range observations. Without placing 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, etc.

[0056] 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 in turn causes the first atmospheric propagation error in the pseudo-range observation.

[0057] The first clock difference between the target satellite and the integrated communication and navigation signal receiver will cause an error in the transmission time of the integrated communication and navigation signal, and then cause a first error in the pseudo-range observation.

[0058] 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.

[0059] 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 in turn cause the first and third errors in the pseudo-range observation.

[0060] Ideally, the antenna phase center should be located at the geometric center of the antenna. However, in actual applications, due to antenna design and environmental influences, the antenna phase center may be offset, that is, the integrated communication and guidance signal receiver will have an antenna phase center error, which will cause the second and third errors in the pseudo-range observation.

[0061] Exemplarily, the first atmospheric propagation error includes a first ionospheric propagation error, a first tropospheric propagation error, and the like.

[0062] Exemplarily, the device error includes a receiving channel delay of the communication and conducting integrated signal receiver, and / or an antenna phase center error of the communication and conducting integrated signal receiver.

[0063] 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 a correction factor 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.

[0064] Method 2: The pseudorange observations and GNSS signals are input into the first model, and the first model outputs the on-board transmission delay.

[0065] It should be noted that there are not too many restrictions on the first model, such as including mechanism models, data-driven models, etc.

[0066] It is understandable that the on-board transmission delay may be different under different environmental parameters (such as temperature). 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.

[0067] S203: Testing the target satellite based on the onboard launch delay.

[0068] It should be noted that the on-board launch delay will cause time-frequency deviation between the communication system and the navigation system, which will in turn affect the test of the target satellite. In this scheme, the on-board launch delay can be taken into account to test the target satellite, which greatly eliminates the impact of the time-frequency deviation between the communication system and the navigation system on satellite testing and improves the accuracy of satellite testing.

[0069] Optionally, the target satellite is tested based on the onboard launch delay, including obtaining test indicators of the target satellite based on the onboard launch delay. It should be noted that there are no excessive restrictions on the test indicators, for example, they may include the accuracy of the pseudorange observation quantity, the timing accuracy, etc. The accuracy of the pseudorange observation quantity refers to the accuracy of the pseudorange observation quantity compared to the first theoretical value of the pseudorange observation quantity, which can be simply referred to as the 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 clock after the communication and guidance integrated signal receiver is corrected. The timing accuracy refers to the accuracy of the clock after the communication and guidance integrated signal receiver is corrected compared to the standard clock.

[0070] It should be noted that timing can be achieved using any timing method in the relevant technology, and no further restrictions are imposed here. For example, the spread spectrum component of the integrated communication and guidance signal can be processed to obtain a first deviation between the clock of the integrated communication and guidance signal receiver and the clock of the target satellite. Based on the second deviation between the clock of the target satellite and the standard clock, the clock of the target satellite is corrected. Based on the first deviation and the corrected clock of the target satellite, the clock of the integrated communication and guidance signal receiver is corrected. It should be noted that there are no further restrictions on the standard clock, for example, it includes the clock signal, second pulse signal, and UTC time information provided by the ground time and frequency reference system.

[0071] Optionally, testing the target satellite based on the onboard transmission delay includes obtaining a third theoretical value of test information of the target satellite, obtaining a sixth error in the test information of the target satellite caused by the onboard transmission 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, an absolute error, relative error, or root mean square error between the third theoretical value and the third observation value may be obtained as the accuracy of the test information of the target satellite.

[0072] 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.

[0073] For example, Figure 1 For example, step S201 is executed by the communication and navigation integrated signal receiver, and steps S201-S203 are executed by the ground information processing system.

[0074] 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 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 quantity between the target satellite and the integrated communication and navigation signal receiver is obtained, and based on the pseudo-range observation quantity 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, and the on-board launch delay can be taken into account to test the target satellite, 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 the accuracy of pseudo-range observation quantity and timing accuracy.

[0075] 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.

[0076] Furthermore, the present disclosure can eliminate the effects of ground clock drift during testing. When receiving discontinuous signals, the ground receiver's observed values remain unaffected by ground clock drift when the signal is interrupted, making it suitable for testing short-duration, discontinuous, integrated signals. With continuous signals, the receiver can continuously receive the signal and output the observed values.

[0077] In the above embodiment, in step S202, the onboard transmission delay of the target satellite is obtained based on the pseudo-range observation and the GNSS signal, which can be combined with Figure 3 Further understanding, Figure 3 This 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:

[0078] S301, 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.

[0079] For the relevant content of step S301, please refer to the above embodiment and will not be repeated here.

[0080] S302: Obtain a first atmospheric propagation error of a pseudorange observation based on the GNSS signal.

[0081] It should be noted that obtaining the first atmospheric propagation error based on the GNSS signal can be achieved using any atmospheric propagation error acquisition method known in the relevant art, without further limitation herein. For example, the GNSS signal can be processed using dual-frequency observation and difference technology, a Kalman filter, or other methods to obtain the first atmospheric propagation error.

[0082] 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.

[0083] 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 is obtained as the first atmospheric propagation error.

[0084] 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 further restrictions are made here.

[0085] For example, based on the dual-frequency GNSS signal, dual-frequency carrier phase observation values can be obtained. Based on the dual-frequency carrier phase observation values, 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 direction of the ionospheric zenith. The propagation error in the direction of the ionospheric zenith is interpolated to obtain the propagation error in the entire area of the ionosphere, so as to obtain the ionospheric zenith model.

[0086] 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 direction of the tropospheric zenith, and the propagation error in the direction of the tropospheric zenith can be interpolated to obtain the propagation error in the entire troposphere area to obtain the tropospheric zenith model.

[0087] 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 models include the Klobuchar model and the NeQuick model, and the tropospheric zenith models include the Saastamoinen model, the Hopfield model, the VMF (Vienna Mapping Function) model, and the GMF (Global Mapping Function) model. The Saastamoinen model and the Hopfield model are both empirical models, and the VMF model and the GMF model are both mapping function models.

[0088] S303: Obtain the total error of the pseudorange observation.

[0089] 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 further limitation is made here.

[0090] Optionally, a 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.

[0091] It should be noted that obtaining the first theoretical value of the pseudorange observation based on the target satellite's orbital information and the calibrated position information of the integrated communication and navigation signal receiver can be achieved using any distance calculation method between a satellite and a receiver in the relevant art, without further limitation here. For example, the position information of the target satellite can be obtained based on the target satellite's orbital information, and the first theoretical value can be obtained based on the target satellite's position information and the calibrated position information of the integrated communication and navigation signal receiver.

[0092] S304 : Obtain a target error of the pseudorange observation amount caused by the onboard transmission delay based on the total error and the first atmospheric propagation error.

[0093] It can be understood that the total error is composed of at least the first atmospheric propagation error and the target error.

[0094] Optionally, based on the total error and the first atmospheric propagation error, a target error of the pseudorange observation 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.

[0095] Optionally, obtaining a target error of the pseudorange observation caused by the onboard transmission delay based on the total error and the first atmospheric propagation error includes removing only the first atmospheric propagation error from the total error to obtain the target error. It will be appreciated that in this embodiment, errors other than the first atmospheric propagation error and the target error are ignored, and the total error is considered to consist solely of the first atmospheric propagation error and the target error.

[0096] Optionally, a target error of the pseudorange observation caused by the onboard transmission delay is obtained based on the total error and the first atmospheric propagation error. This includes performing clock error calculation based on observations from 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, obtaining a first error in the pseudorange observation caused by the first clock error, obtaining a second error in the pseudorange observation caused by relativistic effects, and obtaining a third error in the pseudorange observation caused by equipment errors of the integrated communication and navigation signal receiver. The first atmospheric propagation error and at least one of the first, second, and third errors are removed from the total error to obtain the target error. It will be appreciated that in this embodiment, in addition to the first atmospheric propagation error and the target error, at least one of the first, second, and third errors is also considered. The total error is considered to be composed of the first atmospheric propagation error, the target error, and at least one of the first, second, and third errors. This means that the influence of at least one of the satellite-to-ground clock error, relativistic effects, and equipment errors on the pseudorange observation is also considered, resulting in a more accurate target error.

[0097] S305: Obtain the on-board transmission delay based on the target error.

[0098] S306: Testing the target satellite based on the onboard launch delay.

[0099] For the relevant contents of steps S305-S306, please refer to the above embodiment and will not be repeated here.

[0100] In summary, according to the satellite testing method of the embodiments of the present disclosure, a first atmospheric propagation error of the pseudorange observation is obtained based on the GNSS signal, and a total error of the pseudorange observation is obtained. Based on the total error and the first atmospheric propagation error, a target error of the pseudorange observation caused by the onboard transmission delay is obtained. Based on the target error, the onboard transmission delay is obtained. Thus, the effect of atmospheric propagation on the pseudorange observation can be taken into account, and the target error, and thus the onboard transmission delay, can be obtained based on the total error and the first atmospheric propagation error.

[0101] In the above embodiment, in step S203, the target satellite is tested based on the onboard transmission delay. Figure 4 Further understanding, Figure 4 This 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:

[0102] 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.

[0103] S402: Obtain the onboard transmission delay of the target satellite based on the pseudorange observation and the GNSS signal.

[0104] S403 : Obtain a first theoretical value of the 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.

[0105] S404: Obtain a target error of the pseudorange observation caused by the onboard transmission delay.

[0106] For the relevant contents of steps S401-S404, please refer to the above embodiment and will not be repeated here.

[0107] S405: Obtain a first observation value based on the pseudorange observation value and the target error.

[0108] 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.

[0109] Optionally, obtaining the first observation value based on the pseudorange observation value and the target error includes removing the target error from the pseudorange observation value to obtain the first observation value. It is understood that the target error can cause the pseudorange observation value to increase. Removing the target error from the pseudorange observation value can eliminate the impact of onboard transmission delay on pseudorange observation accuracy, and also significantly eliminate the impact of time-frequency offset between the communication system and the navigation system on pseudorange observation accuracy, thereby improving the accuracy of the pseudorange observation accuracy.

[0110] 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 is understandable that in this embodiment, errors other than the target error are ignored.

[0111] Optionally, obtaining a first observation value based on the pseudorange observation value and the target error includes obtaining a first atmospheric propagation error of the pseudorange observation value based on the GNSS signal, obtaining a second error of the pseudorange observation value caused by relativistic effects, removing the target error from the pseudorange observation value, and removing the first atmospheric propagation error and / or the second error to obtain the first observation value. It will be understood that in addition to the target error, this embodiment also takes into account the first atmospheric propagation error and the second error, that is, it also takes into account the influence of at least one factor of atmospheric propagation and relativistic effects on the pseudorange observation value. This can not only eliminate the influence of the onboard transmission delay on the pseudorange observation accuracy, but also eliminate the influence of atmospheric propagation and / or relativistic effects on the pseudorange observation accuracy, thereby making the pseudorange observation accuracy more accurate.

[0112] S406: Obtain the accuracy of the pseudorange observation based on the first observation value and the first theoretical value.

[0113] 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.

[0114] In summary, according to the satellite testing method of the embodiment of the present disclosure, based on the orbital information of the target satellite and the calibrated position information of the integrated communication and navigation signal receiver, a first theoretical value of the pseudorange observation quantity is obtained, and the target error of the pseudorange observation quantity caused by the onboard transmission delay is obtained. Based on the pseudorange observation quantity and the target error, a first observation quantity is obtained. Based on the first observation quantity and the first theoretical value, the accuracy of the pseudorange observation quantity is obtained. Thus, removing the target error from the pseudorange observation quantity can eliminate the influence of the onboard 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.

[0115] In the above embodiment, in step S203, the target satellite is tested based on the onboard transmission delay. Figure 5 Further understanding, Figure 5 This 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:

[0116] 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.

[0117] S502: Obtain the onboard transmission delay of the target satellite based on the pseudorange observation and the GNSS signal.

[0118] 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.

[0119] For the relevant contents of steps S501-S503, please refer to the above embodiment and will not be repeated here.

[0120] S504: Calculate the clock difference based on the pseudo-range observation to obtain a second clock difference between the target satellite and the communication and navigation integrated signal receiver.

[0121] It should be noted that the first clock error is the theoretical value of the second clock error, which refers to the observed clock error between the target satellite and the integrated communication and navigation signal receiver. Clock error calculation can be achieved using relevant technologies and is not limited here.

[0122] S505: Obtain a third clock difference based on the second clock difference and the onboard transmission delay.

[0123] 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 impact of the on-board transmission delay on the timing accuracy, and also greatly eliminate the impact 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.

[0124] Optionally, obtaining a third clock error based on the second clock error and the onboard transmission delay includes subtracting the onboard transmission delay from the second clock error to obtain the third clock error. It is understood that the onboard transmission delay can cause the second clock error to increase. Subtracting the onboard transmission delay from the second clock error can eliminate the impact of the onboard transmission delay on timing accuracy and significantly reduce the impact of time-frequency deviations between the communication system and the navigation system on timing accuracy, thereby improving the accuracy of timing accuracy.

[0125] S506: Obtain the timing accuracy of the target satellite based on the third clock difference and the first clock difference.

[0126] 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.

[0127] 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.

[0128] In the above embodiment, the Doppler observation accuracy can be tested by combining Figure 6 Further understanding, Figure 6 This 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:

[0129] S601, obtaining Doppler observations of the integrated communication and guidance signal.

[0130] It should be noted that the Doppler observation quantity can be obtained by using any Doppler observation quantity obtaining method in the related art, and no excessive limitation is made here.

[0131] Optionally, obtaining the Doppler observation value of the integrated communication and guidance signal includes processing a pilot component or a continuous wave component of the integrated communication and guidance signal to obtain the Doppler observation value. For example, a frequency offset of the pilot component or the continuous wave component of the integrated communication and guidance signal may be obtained, and the frequency offset may be converted into the Doppler observation value.

[0132] S602: Obtain 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 communication and navigation integrated signal receiver.

[0133] 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 calibration 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.

[0134] 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).

[0135] S603: Obtain a second observation value based on the Doppler observation value and the error of the Doppler observation value.

[0136] It should be noted that there are no excessive restrictions on the errors in Doppler observations. For example, factors such as atmospheric propagation, satellite-to-ground clock drift, and relativistic effects can cause errors in Doppler observations.

[0137] The Earth's atmosphere (e.g., the ionosphere and troposphere) can cause changes in the propagation path and velocity of the integrated communication and guidance signal, which in turn can cause a second atmospheric propagation error in the Doppler observation. For example, this second atmospheric propagation error includes a second ionospheric propagation error and a second tropospheric propagation error.

[0138] The clock drift between the target satellite and the integrated communication and navigation signal receiver will cause an error in the transmission time of the integrated communication and navigation signal, which in turn causes the fourth error in the Doppler observation.

[0139] 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, and then cause the fifth error in the Doppler observation.

[0140] 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.

[0141] Optionally, obtaining a second observation quantity based on the Doppler observation quantity and the error in the Doppler observation quantity includes obtaining a second atmospheric propagation error in the Doppler observation quantity based on the GNSS signal, obtaining a fourth error in the Doppler observation quantity caused by target clock drift, where the target clock drift is the clock drift between the target satellite and the integrated communication and navigation signal receiver, obtaining a fifth error in the Doppler observation quantity caused by relativistic effects, 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 will be appreciated that in this embodiment, the influence of at least one of atmospheric propagation, satellite-to-ground clock drift, and relativistic effects on the accuracy of Doppler observations can be taken into account, thereby eliminating the influence of at least one of atmospheric propagation, satellite-to-ground clock drift, and relativistic effects on the accuracy of Doppler observations, thereby improving the accuracy of the Doppler observations.

[0142] 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, and will not be repeated here. The accuracy of the Doppler observation refers to the accuracy of the Doppler observation amount compared to the second theoretical value, which can be simply referred to as the Doppler observation accuracy.

[0143] S604: Obtain the accuracy of the Doppler observation quantity based on the second observation quantity and the second theoretical value.

[0144] 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.

[0145] 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.

[0146] In summary, according to the satellite testing method of the embodiment of the present disclosure, the Doppler observation quantity 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 quantity is obtained. Based on the error between the Doppler observation quantity and the Doppler observation quantity, the second observation quantity is obtained. Based on the second observation quantity and the second theoretical value, the Doppler observation accuracy is obtained to realize the test of the Doppler observation accuracy.

[0147] 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 7This 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:

[0148] S701, obtaining Doppler observations of the integrated communication and guidance signal.

[0149] For the relevant content of step S701, please refer to the above embodiment and will not be repeated here.

[0150] 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.

[0151] 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 further limitations are imposed here.

[0152] 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.

[0153] 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 communication and navigation signal receiver.

[0154] 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.

[0155] 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.

[0156] For example, the absolute error, relative error, root mean square error, etc. between the position observation value 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.

[0157] Optionally, the method further includes, in response to the positioning accuracy of the integrated communication and navigation signal receiver reaching a set accuracy, using the duration of the current positioning by the integrated communication and navigation signal receiver as a convergence time. It should be noted that the convergence time refers to the time required for the receiver to start receiving signals and for the positioning result to reach the set accuracy.

[0158] For example, Figure 1For 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.

[0159] 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.

[0160] Figure 8 This is a structural schematic diagram of a satellite testing device provided in an embodiment of the present disclosure, which is applied to a satellite testing system.

[0161] 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 .

[0162] A first acquisition module 801 is configured to obtain a pseudorange observation between a target satellite and a communication and navigation integrated signal receiver based on the communication and navigation integrated signal;

[0163] A second acquisition module 802 is configured to obtain an onboard transmission delay of the target satellite based on the pseudorange observation and the GNSS signal;

[0164] The testing module 803 is configured to test the target satellite based on the on-board transmission delay.

[0165] 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 quantity based on the GNSS signal; obtain a total error of the pseudorange observation quantity; obtain a target error of the pseudorange observation quantity 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.

[0166] 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 value 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 value and the first theoretical value as the total error.

[0167] 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.

[0168] 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.

[0169] In some embodiments of the present disclosure, the test module 803 is further used to: obtain a first theoretical value of the pseudorange observation quantity 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 quantity caused by the on-board transmission delay; obtain a first observation quantity based on the pseudorange observation quantity and the target error; and obtain the accuracy of the pseudorange observation quantity based on the first observation quantity and the first theoretical value.

[0170] In some embodiments of the present disclosure, the testing 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.

[0171] In some embodiments of the present disclosure, the test module 803 is further 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.

[0172] In some embodiments of the present disclosure, the test module 803 is further used to: obtain the Doppler observation quantity of the integrated communication and navigation signal; obtain a second theoretical value of the Doppler observation quantity 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 quantity based on the Doppler observation quantity and the error of the Doppler observation quantity; and obtain the accuracy of the Doppler observation quantity based on the second observation quantity and the second theoretical value.

[0173] 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 target clock drift, wherein the target clock drift is the 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 relativistic effects; 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.

[0174] In some embodiments of the present disclosure, the test module 803 is further 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.

[0175] It should be noted that the aforementioned explanation of the satellite testing method is also applicable to the satellite testing device of this embodiment and will not be repeated here.

[0176] It should be noted that the beneficial effects achieved by the satellite testing device are the same as those achieved by the satellite testing method in the aforementioned embodiment, and will not be repeated here.

[0177] Figure 9 FIG1 is a block diagram of a communication device for implementing a satellite testing 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. Figure 9 As shown, the above-mentioned communication device 900 includes:

[0178] One or more processors 901. Processor 901 can be a general-purpose processor or a dedicated processor, for example, a baseband processor or a central processing unit. A baseband processor can be used to process communication protocols and communication data, while a central processing unit can be used to control a communication device (e.g., a base station, baseband chip, terminal, terminal chip, distributed unit (DU) or central unit (CU)), execute programs, and process program data. Processor 901 is used to invoke instructions to cause communication device 900 to perform any of the above methods.

[0179] 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 be located 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.

[0180] In some embodiments, the transceiver 903 may include a receiver and a transmitter, which may be separate or integrated. In some embodiments, the terms transceiver, transceiver unit, transceiver, and transceiver circuit are interchangeable, the terms transmitter, transmitting unit, transmitter, and transmitting circuit are interchangeable, and the terms receiver, receiving unit, receiver, and receiving circuit are interchangeable. In some embodiments, the communication device 900 also includes one or more interface circuits 904, which are connected to the memory 902. The interface circuits 904 can be used to receive signals from the memory 902 or other devices, and can be used to send signals to the memory 902 or other devices. For example, the interface circuit 904 can read instructions stored in the memory 902 and send the instructions to the processor 901.

[0181] The communication device 900 described in the above embodiment 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. Figure 9The communication device may be an independent device or a 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 and programs; (3) an ASIC, such as a modem; (4) a module that can be embedded in other devices; (5) a receiver, a terminal, a smart terminal, a cellular phone, a wireless device, a handheld device, a mobile unit, an in-vehicle device, a network device, a cloud device, an artificial intelligence device, etc.; (6) others, etc.

[0182] It should be noted that the implementation process and technical principles of the communication equipment of this embodiment can be found in the aforementioned explanation of the satellite testing method of the embodiment of the present disclosure, and will not be repeated here.

[0183] An embodiment of the present disclosure also provides a chip. Figure 10 The figure is a structural diagram of a chip according to an exemplary embodiment.

[0184] like Figure 10 As shown, the chip 1000 includes a processor 1001 and an interface circuit 1002. There may be one or more processors 1001, and one or more interface circuits 1002.

[0185] 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.

[0186] In order to implement the above embodiments, the present disclosure further proposes a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the satellite testing method of the above embodiments is implemented.

[0187] 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.

[0188] It should be noted that, in the description of this disclosure, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. In addition, in the description of this disclosure, unless otherwise specified, the meaning of "plurality" is two or more.

[0189] 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 additional implementations in which functions may be performed out of 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.

[0190] It should be understood that various parts of the present disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having logic gate circuits for implementing logic functions on data signals, an application-specific integrated circuit having suitable combinational logic gate circuits, a programmable gate array (PGA), a field-programmable gate array (FPGA), etc.

[0191] Those skilled in the art will appreciate that all or part of the steps in the method for implementing the above-mentioned embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0192] In addition, the functional units in the various embodiments 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 a 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 magnetic disk, an optical disk, etc.

[0193] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0194] Although the embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are illustrative and are not to be construed as limitations on 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 testing 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 target satellite is provided with an onboard orbit determination receiver, the GNSS signal receiver and the communication and navigation integrated signal receiver are juxtaposed according to a zero baseline, the GNSS signal receiver and the communication and navigation integrated signal receiver have the same clock source, the GNSS signal receiver and the onboard orbit determination receiver are both used to receive the GNSS signal sent by the GNSS satellite, and the communication and navigation integrated signal receiver is used to receive the communication and navigation integrated signal sent by the target satellite; The satellite test system is used to: Based on the communication and navigation integrated signal, obtaining a pseudorange observation between the target satellite and the communication and navigation integrated signal receiver; Obtaining an onboard transmission delay of the target satellite based on the pseudorange observation and the GNSS signal; The target satellite is tested based on the on-board launch delay.

2. A satellite testing method, characterized in that: Applied to the satellite test system according to claim 1, the method comprises: Based on the communication and navigation integrated signal, the pseudo-range observation between the target satellite and the communication and navigation integrated signal receiver is obtained; Obtaining an onboard transmission delay of the target satellite based on the pseudorange observations and the GNSS signal; The target satellite is tested based on the on-board launch 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: Obtaining a first atmospheric propagation error of the pseudorange observation based on the GNSS signal; Obtaining a total error of the pseudorange observation; Obtaining a target error of the pseudorange observation caused by the onboard transmission delay based on the total error and the first atmospheric propagation error; 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: Obtaining a first theoretical value of the pseudorange observation amount based on the orbit information of the target satellite and the calibrated position information of the communication and navigation integrated signal receiver; 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 Obtaining 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 includes: performing clock error calculation based on an observation value 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, and obtaining a first error of the pseudorange observation value caused by the first clock error; Obtaining a second error of the pseudorange observation caused by a relativistic effect; Obtaining a third error of the pseudorange observation caused by a device error of the communication and guidance integrated signal receiver; The first atmospheric propagation error is removed from the total error, and at least one of the first error, the second error, and the third error is removed to obtain the target 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 launch delay includes: Obtaining a first theoretical value of the pseudorange observation amount based on the orbit information of the target satellite and the calibrated position information of the communication and navigation integrated signal receiver; Obtaining a target error of the pseudorange observation caused by the onboard transmission delay; 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 of a first observation value based on the pseudorange observation value and the target error includes: Obtaining a first atmospheric propagation error of the pseudorange observation based on the GNSS signal; Obtaining a second error of the pseudorange observation caused by a relativistic effect; The target error is removed from the pseudorange observation quantity, and the first atmospheric propagation error and / or the second error are removed to obtain the first observation quantity.

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 launch delay includes: performing clock error calculation based on observations 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 pseudorange 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 onboard 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 integrated communication and conduction signal; 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 communication and navigation integrated signal receiver; Obtaining a second observation value based on the Doppler observation value and an error in 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 includes: Obtaining a second atmospheric propagation error of the Doppler observation based on the GNSS signal; Obtaining 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 quantity to obtain the second observation quantity.

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 integrated communication and conduction 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 value 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 according to 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 configured to obtain an onboard transmission delay of the target satellite based on the pseudorange observation value and the GNSS signal; A testing 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 that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 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 a processor, the method according to any one of claims 2 to 12 can be implemented.

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