Method and device for determining DOP value of low-orbit satellite orbit clock error

Abstract

The present invention provides a method and device for determining the DOP value of the orbital clock error of a low-earth orbit satellite; according to the measurement geometry of the low-earth orbit satellite facing the GNSS satellite, based on the carrier phase and pseudo-range ionosphere-free combination observation equations corresponding to the current orbit determination method, a formal covariance matrix of the low-earth orbit satellite orbit and clock error parameters in the geocentric coordinate system is obtained; according to the formal covariance matrix of the low-earth orbit satellite orbit and clock error parameters in the geocentric coordinate system, the DOP value of the precision factor of the low-earth orbit satellite orbit and clock error parameters in the geocentric coordinate system is determined. Based on this method, in the case where the true results of precise orbit determination and timing of the low-earth orbit satellite cannot be obtained, the DOP values of each precision factor are calculated through calculation, and then the formal precision of each parameter can be calculated according to the DOP values of each precision factor, and the correlation between parameters can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite positioning and timing, and particularly relates to a method and device for determining the Dilution of Precision (DOP) value of the orbit clock error of a low-earth orbit satellite. Background Art

[0002] Benefiting from the characteristics of low altitude, high speed, and low construction cost of low-earth orbit satellites, low-earth orbit augmentation of the Global Navigation Satellite System (GNSS) for positioning, navigation, and timing has a series of advantages such as strong signal strength, short convergence time, and white noise of multipath effects, and has received increasing attention in recent years. To better utilize low-earth orbit navigation signals to achieve high-precision real-time positioning and timing on the ground, the system requires users to broadcast high-precision low-earth orbit satellite orbit and clock products in real time, and evaluate the formal accuracy of the orbit and clock forms, so as to facilitate users to use the accuracy of low-earth orbit augmentation GNSS ground positioning, navigation, and timing.

[0003] The existing Dilution of Precision (DOP) index, for ground users based on the pseudo-range single-point positioning method, describes the strength of the observation model through the DOP value of the geometry of the GNSS satellites that can be received, and directly uses the DOP value and the given observation prior / posterior Root Mean Square (RMS) to calculate the formal accuracy of the position and clock error.

[0004] The current technology does not have a method for determining the DOP value of the precision factor for low-earth orbit satellite precise orbit determination and timing using carrier phase and pseudo-range observations, and cannot distinguish the difference in the DOP value of the precision factor between dynamic and kinematic orbit determination and timing, which is not convenient for describing the model strength and formal accuracy of the low-earth orbit satellite precise orbit determination and timing results. Summary of the Invention

[0005] To solve the above problems existing in the prior art, the present invention provides a method and device for determining the DOP value of the orbit clock error of a low-earth orbit satellite, specifically including:

[0006] In a first aspect, the present invention provides a method for determining the DOP value of a low-earth orbit satellite, including:

[0007] According to the measurement geometry of the low-earth orbit satellite facing the GNSS satellites of the Global Navigation Satellite System, based on the carrier phase and pseudo-range ionosphere-free combination observation equations corresponding to the current orbit determination method, obtain the formal covariance matrix of the orbit and clock error parameters of the low-earth orbit satellite in the Earth-centered inertial coordinate system;

[0008] According to the formal covariance matrix of the orbit and clock error parameters of the low-earth orbit satellite in the Earth-centered inertial coordinate system, determine the DOP value of the precision factor of the orbit and clock error parameters of the low-earth orbit satellite in the Earth-centered inertial coordinate system.

[0009] In a second aspect, the present invention further provides a device for determining the DOP value of a low-earth orbit satellite, including:

[0010] A first processing module, configured to obtain a formal covariance matrix of the orbit and clock error parameters of the low-earth orbit satellite in the earth-fixed coordinate system based on the measurement geometry of the low-earth orbit satellite facing the GNSS satellite and the carrier-phase and pseudo-range ionosphere-free combined observation equations corresponding to the current orbit determination method;

[0011] A second processing module, configured to determine the dilution of precision (DOP) value of the orbit and clock error parameters of the low-earth orbit satellite in the earth-fixed coordinate system according to the formal covariance matrix of the orbit and clock error parameters of the low-earth orbit satellite in the earth-fixed coordinate system.

[0012] Advantages of the present invention:

[0013] The method for determining the DOP value of the low-earth orbit satellite orbit clock error provided by the present invention obtains a formal covariance matrix of the orbit and clock error parameters of the low-earth orbit satellite in the earth-fixed coordinate system based on the measurement geometry of the low-earth orbit satellite facing the GNSS satellite and the carrier-phase and pseudo-range ionosphere-free combined observation equations corresponding to the current orbit determination method; and determines the dilution of precision (DOP) value of the orbit and clock error parameters of the low-earth orbit satellite in the earth-fixed coordinate system according to the formal covariance matrix of the orbit and clock error parameters of the low-earth orbit satellite in the earth-fixed coordinate system. It can calculate the dilution of precision (DOP) value for precise orbit determination and timing of low-earth orbit satellites based on carrier-phase and pseudo-range observations. Based on this method, in the case where the true results of precise orbit determination and timing of low-earth orbit satellites cannot be obtained, the DOP values of each precision factor are calculated through calculation. Furthermore, according to the DOP values of each precision factor, the strength of the observation model can be described, the formal precision of each parameter can be calculated, and the correlation between parameters can be solved.

[0014] The following will further elaborate on the present invention in detail with reference to the drawings and embodiments. Description of the Drawings

[0015] Figure 1 It is a schematic flow chart of a method for determining the DOP value of a low-earth orbit satellite provided by the present invention;

[0016] Figure 2 It is a schematic structural diagram of a device for determining the DOP value of a low-earth orbit satellite provided by the present invention. Detailed Embodiments

[0017] The following further describes the present invention in detail with specific embodiments, but the implementation manners of the present invention are not limited thereto.

[0018] The present invention aims at a single GNSS system / multi-GNSS system, and provides a simplified dynamics / kinematics precise orbit determination and timing method for low-Earth orbit satellites based on dual-frequency carrier phase and pseudorange, as well as a calculation method for the dilution of precision (DOP) values of the orbit radial, tangential, normal parameters and the clock error parameters of low-Earth orbit satellites, which is convenient for describing the strength of the observation model and calculating the formal precision of the parameters, and obtaining the correlation between the parameters.

[0019] Figure 1 As shown in the flowchart of a method for determining the DOP value of a low-Earth orbit satellite provided by the present invention, Figure 1 as shown, the method includes:

[0020] S101. According to the measurement geometry of the low-Earth orbit satellite facing the GNSS satellite, based on the carrier phase and pseudorange ionosphere-free combination observation equation corresponding to the current orbit determination method, obtain the formal covariance matrix of the low-Earth orbit satellite orbit and clock error parameters in the Earth-fixed coordinate system.

[0021] The orbit determination method can be a simplified dynamics orbit determination method for low-Earth orbit satellites or a kinematics orbit determination method for low-Earth orbit satellites. Specifically, when the satellite does not have the ability of dynamic orbit determination, or when the orbit maneuvers and the satellite does not have the ability of maneuver orbit determination, the kinematics orbit determination method for low-Earth orbit satellites can be adopted.

[0022] In a possible implementation manner, when the current orbit determination method is a simplified dynamics orbit determination method for low-Earth orbit satellites, according to the measurement geometry of the low-Earth orbit satellite facing the GNSS satellite, based on the carrier phase and pseudorange ionosphere-free combination observation equation corresponding to the current orbit determination method, obtaining the formal covariance matrix of the low-Earth orbit satellite orbit and clock error parameters in the Earth-fixed coordinate system includes the following steps a1-a3:

[0023] a1. According to the measurement geometry of the low-Earth orbit satellite facing the GNSS satellite, based on the carrier phase and pseudorange ionosphere-free combination observation equation corresponding to the simplified dynamics orbit determination method for low-Earth orbit satellites, obtain the formal covariance matrix of all solution parameters corresponding to the simplified dynamics orbit determination method for low-Earth orbit satellites, expressed as:

[0024] ,

[0025] where represents the formal covariance matrix of all solution parameters corresponding to the simplified dynamics orbit determination method for low-Earth orbit satellites, represents the first design matrix, which contains the partial derivatives of all observation data with respect to all solution parameters corresponding to the simplified dynamics orbit determination method for low-Earth orbit satellites, represents the covariance matrix of the observation data, and the superscript represents the transpose.

[0026] a2. According to the formal covariance matrix of all parameters corresponding to the simplified dynamics orbit determination method for low-Earth orbit satellites, obtain the dynamic parameters of the low-Earth orbit satellite and The formal covariance matrix of the epoch clock error parameters is expressed as:

[0027] ,

[0028] where denotes selecting the low-orbit satellite dynamic parameters and the epoch clock error parameters from all the solution parameters corresponding to the low-orbit satellite simplified dynamic orbit determination method, denotes the formal covariance matrix of the low-orbit satellite dynamic parameters and the epoch clock error parameters.

[0029] a3. According to the partial derivative matrix of the low-orbit satellite orbit in the epoch inertial coordinate system with respect to the low-orbit satellite dynamic parameters, the rotation matrix from the inertial coordinate system to the earth-fixed coordinate system, and the formal covariance matrix of the low-orbit satellite dynamic parameters and the epoch clock error parameters, the formal covariance matrix of the low-orbit satellite orbit and clock error parameters in the epoch earth-fixed coordinate system is obtained, which is expressed as:

[0030] ,

[0031] ,

[0032] where denotes the formal covariance matrix of the low-orbit satellite orbit and clock error parameters in the epoch earth-fixed coordinate system, denotes the epoch parameter conversion matrix, denotes the rotation matrix from the epoch inertial coordinate system to the earth-fixed coordinate system, denotes the partial derivative matrix of the low-orbit satellite orbit in the epoch inertial coordinate system with respect to the low-orbit satellite dynamic parameters.

[0033] In a possible implementation, when the current orbit determination method is the low-orbit satellite kinematic orbit determination method, according to the measurement geometry of the low-orbit satellite facing the GNSS satellite, based on the carrier phase and pseudo-range ionosphere-free combination observation equation corresponding to the current orbit determination method, the formal covariance matrix of the low-orbit satellite orbit and clock error parameters in the earth-fixed coordinate system is obtained, including the following steps b1 - b2:

[0034] b1. According to the measurement geometry of the low-orbit satellite facing the GNSS satellite, based on the carrier phase and pseudo-range ionosphere-free combination observation equation corresponding to the low-orbit satellite kinematic orbit determination method, the formal covariance matrix of all the solution parameters corresponding to the low-orbit satellite kinematic orbit determination method is obtained, which is expressed as:

[0035] ,

[0036] Among them, represents the formal covariance matrix of all solution parameters corresponding to the kinematic orbit determination method for low-Earth orbit satellites. represents the second design matrix, which contains the partial derivatives of all observation data with respect to all solution parameters corresponding to the kinematic orbit determination method for low-Earth orbit satellites. represents the covariance matrix of the observation data.

[0037] b2. According to the formal covariance matrix of all parameters corresponding to the kinematic orbit determination method for low-Earth orbit satellites, obtain the formal covariance matrix of the kinematic orbit and clock error parameters of low-Earth orbit satellites in the epoch Earth-fixed coordinate system, which is expressed as:

[0038] ,

[0039] Among them, represents the formal covariance matrix of the kinematic orbit and clock error parameters of low-Earth orbit satellites in the epoch Earth-fixed coordinate system. Select from all solution parameters corresponding to the kinematic orbit determination method for low-Earth orbit satellites the kinematic orbit and clock error parameters of low-Earth orbit satellites in the epoch Earth-fixed coordinate system.

[0040] S102. According to the formal covariance matrix of the orbit and clock error parameters of low-Earth orbit satellites in the Earth-fixed coordinate system, determine the Dilution of Precision (DOP) value of the orbit and clock error parameters of low-Earth orbit satellites in the Earth-fixed coordinate system.

[0041] The Dilution of Precision (DOP) is a core indicator for evaluating the quality of satellite navigation and positioning, and is used to quantify the amplification effect of satellite geometric distribution on positioning errors. The smaller the DOP value, the more favorable the satellite spatial distribution is for high-precision positioning.

[0042] In a possible implementation, when the current orbit determination method is the simplified dynamics orbit determination method for low-Earth orbit satellites, according to the formal covariance matrix of the orbit and clock error parameters of low-Earth orbit satellites in the Earth-fixed coordinate system, determine the Dilution of Precision (DOP) value of the orbit and clock error parameters of low-Earth orbit satellites in the Earth-fixed coordinate system, which is expressed as:

[0043] ,

[0044] ,

[0045] ,

[0046] ,

[0047] Among them, the general formula represents The element in the row and column of the formal covariance matrix of the low-Earth orbit satellite's dynamic orbit and clock error parameters in the epoch geodetic coordinate system, , , where (1,1) in the above formula represents the element in the 1st row and 1st column of the formal covariance matrix of the low-Earth orbit satellite's dynamic orbit and clock error parameters in the epoch geodetic coordinate system, (2,2) represents the element in the 2nd row and 2nd column of the formal covariance matrix of the low-Earth orbit satellite's dynamic orbit and clock error parameters in the epoch geodetic coordinate system, (3,3) represents the element in the 3rd row and 3rd column of the formal covariance matrix of the low-Earth orbit satellite's dynamic orbit and clock error parameters in the epoch geodetic coordinate system, (4,4) represents the element in the 4th row and 4th column of the formal covariance matrix of the low-Earth orbit satellite's dynamic orbit and clock error parameters in the epoch geodetic coordinate system, represents the root mean square (RMS) of the observations with unit weight, represents the dilution of precision (DOP) value of the low-Earth orbit satellite's dynamic orbit in the X-axis direction of the geodetic coordinate system at the epoch, represents the dilution of precision (DOP) value of the low-Earth orbit satellite's dynamic orbit in the Y-axis direction of the geodetic coordinate system at the epoch, represents the dilution of precision (DOP) value of the low-Earth orbit satellite's dynamic orbit in the Z-axis direction of the geodetic coordinate system at the epoch, represents the dilution of precision (DOP) value of the clock error parameters in the simplified dynamic orbit determination mode of the low-Earth orbit satellite at the epoch.

[0048] Specifically, it can be the prior RMS or the posterior RMS, and the prior or posterior depends on whether the covariance matrix of the observation data uses prior data or posterior data.

[0049] In another possible implementation, when the current orbit determination method is the simplified dynamic orbit determination method for low-Earth orbit satellites, based on the formal covariance matrix of the low-Earth orbit satellite's orbit and clock error parameters in the geodetic coordinate system, determine the dilution of precision (DOP) values of the low-Earth orbit satellite's orbit and clock error parameters in the geodetic coordinate system, expressed as:

[0050] ,

[0051] ,

[0052] ,

[0053] Among them,

[0054] ,

[0055] ,

[0056] ,

[0057] ,

[0058] ,

[0059] ,

[0060] represents the covariance matrix of the radial, tangential, and normal orbital and clock error parameters of a low-Earth orbit satellite in the epoch Earth-centered inertial coordinate system, represents the rotation matrix from the epoch Earth-centered inertial coordinate system to the orbital coordinate system, represents the dilution of precision (DOP) value of the radial orbit of the low-Earth orbit satellite dynamics at the epoch, represents the dilution of precision (DOP) value of the tangential orbit of the low-Earth orbit satellite dynamics at the epoch, represents the dilution of precision (DOP) value of the normal orbit of the low-Earth orbit satellite dynamics at the epoch, represents the dilution of precision (DOP) value of the clock error parameter in the simplified dynamic orbit determination mode of the low-Earth orbit satellite at the epoch, represents the correlation factor between the radial orbit of the low-Earth orbit satellite dynamics and the clock error parameter, represents the correlation factor between the tangential orbit of the low-Earth orbit satellite dynamics and the clock error parameter, represents the correlation factor between the normal orbit of the low-Earth orbit satellite dynamics and the clock error parameter, represents the position of the low-Earth orbit satellite at the epoch, represents the velocity of the low-Earth orbit satellite at the epoch, general formula represents the element in the th row and , , in the above formula, (1,1) represents the element in the first row and first column of the formal covariance matrix of the low-Earth orbit satellite dynamics orbit and clock error parameter in the epoch Earth-centered inertial coordinate system, (2,2) represents The element in the second row and second column of the formal covariance matrix of the low-Earth orbit satellite orbit and clock error parameters in the epoch geodetic coordinate system, denoted as (3,3). The element in the third row and third column of the formal covariance matrix of the dynamic orbit and clock error parameters of the low-Earth orbit satellite in the epoch geodetic coordinate system, denoted as (4,4). The element in the fourth row and fourth column of the formal covariance matrix of the dynamic orbit and clock error parameters of the low-Earth orbit satellite in the epoch geodetic coordinate system, denoted as (1,4). The element in the first row and fourth column of the formal covariance matrix of the dynamic orbit and clock error parameters of the low-Earth orbit satellite in the epoch geodetic coordinate system, denoted as (2,4). The element in the second row and fourth column of the formal covariance matrix of the dynamic orbit and clock error parameters of the low-Earth orbit satellite in the epoch geodetic coordinate system, denoted as (3,4). The element in the third row and fourth column of the formal covariance matrix of the dynamic orbit and clock error parameters of the low-Earth orbit satellite in the epoch geodetic coordinate system.

[0061] In a possible implementation, when the current orbit determination method is the kinematic orbit determination method for low-Earth orbit satellites, based on the formal covariance matrix of the low-Earth orbit satellite orbit and clock error parameters in the geodetic coordinate system, the dilution of precision (DOP) value of the low-Earth orbit satellite orbit and clock error parameters in the geodetic coordinate system is determined, expressed as:

[0062] ,

[0063] ,

[0064] ,

[0065] ,

[0066] where the general formula represents the element in the th row and th column of the formal covariance matrix of the kinematic orbit and clock error parameters of the low-Earth orbit satellite in the epoch geodetic coordinate system, , , denoted as (1,1). The element in the first row and first column of the formal covariance matrix of the kinematic orbit and clock error parameters of the low-Earth orbit satellite in the epoch geodetic coordinate system, denoted as (2,2). The element in the second row and second column of the formal covariance matrix of the kinematic orbit and clock error parameters of the low-Earth orbit satellite in the epoch geodetic coordinate system, denoted as (3,3). The element in the third row and third column of the formal covariance matrix of the kinematic orbit and clock error parameters of the low-Earth orbit satellite in the epoch geodetic coordinate system, denoted as (4,4). The element in the 4th row and 4th column of the formal covariance matrix of the kinematic orbit and clock error parameters of a low Earth orbit satellite in the epoch geodetic coordinate system denotes the Dilution of Precision (DOP) value of the kinematic orbit of a low Earth orbit satellite in the epoch along the X-axis of the geodetic coordinate system denotes the Dilution of Precision (DOP) value of the kinematic orbit of a low Earth orbit satellite in the epoch along the Y-axis of the geodetic coordinate system denotes the Dilution of Precision (DOP) value of the kinematic orbit of a low Earth orbit satellite in the epoch along the Z-axis of the geodetic coordinate system denotes the Dilution of Precision (DOP) value of the clock error parameters in the kinematic orbit determination mode of a low Earth orbit satellite in the epoch denotes the covariance matrix of the kinematic orbit and clock error parameters of a low Earth orbit satellite in the epoch denotes the root mean square of the observations with unit weight.

[0067] In another possible implementation, when the current orbit determination method is the kinematic orbit determination method for a low Earth orbit satellite, based on the formal covariance matrix of the low Earth orbit satellite orbit and clock error parameters in the geodetic coordinate system, the Dilution of Precision (DOP) values of the low Earth orbit satellite orbit and clock error parameters in the geodetic coordinate system are determined and expressed as:

[0068] ,

[0069] ,

[0070] ,

[0071] where

[0072] ,

[0073] ,

[0074] ,

[0075] ,

[0076] ,

[0077] denotes the covariance matrix of the kinematic radial, tangential, normal orbits and clock error parameters of a low Earth orbit satellite in the epoch geodetic coordinate system denotes the rotation matrix from the kinematic orbit of a low Earth orbit satellite in the epoch geodetic coordinate system to the kinematic radial, tangential, normal orbits of the low Earth orbit satellite Represents the correlation factor between the kinematic radial orbit of a low Earth orbit satellite and the clock error parameter, Represents the correlation factor between the kinematic tangential orbit of a low Earth orbit satellite and the clock error parameter, Represents the correlation factor between the kinematic normal orbit of a low Earth orbit satellite and the clock error parameter, Represents The Dilution of Precision (DOP) value of the kinematic radial orbit of a low Earth orbit satellite at an epoch, Represents The Dilution of Precision (DOP) value of the kinematic tangential orbit of a low Earth orbit satellite at an epoch, Represents The Dilution of Precision (DOP) value of the kinematic normal orbit of a low Earth orbit satellite at an epoch, Represents The Dilution of Precision (DOP) value of the clock error parameter in the kinematic orbit determination mode of a low Earth orbit satellite at an epoch, general formula Represents The element in the th row and th column of the formal covariance matrix of the kinematic orbit and clock error parameter of a low Earth orbit satellite in the Earth-fixed coordinate system at an epoch, , , (1,1) represents The element in the 1st row and 1st column of the formal covariance matrix of the kinematic orbit and clock error parameter of a low Earth orbit satellite in the Earth-fixed coordinate system at an epoch, (2,2) represents The element in the 2nd row and 2nd column of the formal covariance matrix of the kinematic orbit and clock error parameter of a low Earth orbit satellite in the Earth-fixed coordinate system at an epoch, (3,3) represents The element in the 3rd row and 3rd column of the formal covariance matrix of the kinematic orbit and clock error parameter of a low Earth orbit satellite in the Earth-fixed coordinate system at an epoch, (4,4) represents The element in the 4th row and 4th column of the formal covariance matrix of the kinematic orbit and clock error parameter of a low Earth orbit satellite in the Earth-fixed coordinate system at an epoch, (1,4) represents The element in the 1st row and 4th column of the formal covariance matrix of the kinematic orbit and clock error parameter of a low Earth orbit satellite in the Earth-fixed coordinate system at an epoch, (2,4) represents The element in the 2nd row and 4th column of the formal covariance matrix of the kinematic orbit and clock error parameter of a low Earth orbit satellite in the Earth-fixed coordinate system at an epoch, (3,4) represents The element in the 3rd row and 4th column of the formal covariance matrix of the kinematic orbit and clock error parameter of a low Earth orbit satellite in the Earth-fixed coordinate system at an epoch.

[0078] This method proposes different calculation methods for the Dilution of Precision (DOP) values for the simplified dynamic orbit determination method and the kinematic orbit determination method of low Earth orbit satellites, and gives the calculation processes of the DOP values of different methods from different dimensions, which can improve the calculation accuracy.

[0079] A method and device for determining the DOP value of a low-earth orbit satellite provided by the present invention obtain a formal covariance matrix of the orbit and clock error parameters of the low-earth orbit satellite in the earth-fixed coordinate system according to the measurement geometry of the low-earth orbit satellite facing GNSS satellites and based on the carrier phase and pseudo-range ionosphere-free combined observation equations corresponding to the current orbit determination method; according to the formal covariance matrix of the orbit and clock error parameters of the low-earth orbit satellite in the earth-fixed coordinate system, determine the dilution of precision (DOP) value of the orbit and clock error parameters of the low-earth orbit satellite in the earth-fixed coordinate system, and can calculate the DOP value of the precision factor for precise orbit determination and timing of the low-earth orbit satellite based on carrier phase and pseudo-range observations. Based on this method, in the case where the true precision of precise orbit determination and timing of the low-earth orbit satellite cannot be obtained, the DOP values of each precision factor are calculated through calculation, and then the strength of the observation model can be described according to the DOP values of each precision factor, the formal precision of each parameter can be calculated, and the correlation between parameters can be solved.

[0080] Figure 2 As shown in the structural schematic diagram of a device for determining the DOP value of a low-earth orbit satellite provided by the present invention, Figure 2 the device includes:

[0081] A first processing module 21, configured to obtain a formal covariance matrix of the orbit and clock error parameters of the low-earth orbit satellite in the earth-fixed coordinate system according to the measurement geometry of the low-earth orbit satellite facing GNSS satellites and based on the carrier phase and pseudo-range ionosphere-free combined observation equations corresponding to the current orbit determination method;

[0082] A second processing module 22, configured to determine the dilution of precision (DOP) value of the orbit and clock error parameters of the low-earth orbit satellite in the earth-fixed coordinate system according to the formal covariance matrix of the orbit and clock error parameters of the low-earth orbit satellite in the earth-fixed coordinate system.

[0083] The present invention also provides a structure of an electronic device, including a processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory complete communication with each other through the communication bus.

[0084] The memory is used to store a computer program;

[0085] The processor, when executing the program stored in the memory, implements the steps provided in the above method embodiments.

[0086] The communication interface is used for communication between the above electronic device and other devices.

[0087] The method provided by the embodiments of the present invention can be applied to an electronic device. Specifically, the electronic device can be: a desktop computer, a portable computer, a smart mobile terminal, a server, etc. There is no limitation here, and any electronic device that can implement the present invention belongs to the protection scope of the present invention.

[0088] The present invention also provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the steps provided in the above method embodiments are implemented.

[0089] For the device / electronic device / storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple. For the specific content, beneficial effects and other related aspects, please refer to the partial description of the method embodiments.

[0090] The terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more, unless otherwise specifically defined.

[0091] The above content is a further detailed description of the present invention in combination with specific preferred embodiments. It cannot be determined that the specific implementation of the present invention is only limited to these descriptions. For those of ordinary skill in the technical field to which the present invention pertains, without departing from the concept of the present invention, several simple deductions or substitutions can be made, and all should be regarded as belonging to the protection scope of the present invention.

Claims

1. A method for determining the orbital clock error DOP value of a low-orbit satellite, characterized in that: include: According to the measurement geometry of the low-orbit satellite facing the global satellite positioning system GNSS satellite, based on the carrier phase and pseudo-range ionosphere-free combined observation equation corresponding to the current orbit determination method, the formal covariance matrix of the low-orbit satellite orbit and clock error parameters in the earth-fixed coordinate system is obtained; the current orbit determination method is a simplified dynamic orbit determination method for low-orbit satellites or a kinematic orbit determination method for low-orbit satellites; According to the formal covariance matrix of the orbit and clock error parameters of the low-orbit satellite in the earth-fixed coordinate system, the precision factor DOP value of the orbit and clock error parameters of the low-orbit satellite in the earth-fixed coordinate system is determined.

2. The method according to claim 1, characterized in that When the current orbit determination method is the simplified dynamic orbit determination method for the low-orbit satellite, According to the measurement geometry of the low-orbit satellite facing the GNSS satellite, based on the carrier phase and pseudo-range ionosphere-free combined observation equation corresponding to the current orbit determination method, the formal covariance matrix of the low-orbit satellite orbit and clock error parameters in the earth-fixed coordinate system is obtained, including: According to the measurement geometry of the low-orbit satellite facing the GNSS satellite, based on the carrier phase and pseudo-range ionosphere-free combined observation equation corresponding to the simplified dynamical orbit determination method of the low-orbit satellite, the formal covariance matrix of all solution parameters corresponding to the simplified dynamical orbit determination method of the low-orbit satellite is obtained, which is expressed as: ， in, The formal covariance matrix representing all solution parameters corresponding to the simplified dynamics orbit determination method for low-orbit satellites, represents the first design matrix, which contains the partial derivatives of all observation data for all solution parameters corresponding to the simplified dynamics orbit determination method for low-orbit satellites, represents the covariance matrix of the observed data, with the superscript represents transpose; According to the formal covariance matrix of all parameters corresponding to the simplified dynamics orbit determination method of low-orbit satellite, the dynamics parameters and The formal covariance matrix of the epoch clock error parameters is expressed as: ， in, Indicates that the dynamic parameters of the low-orbit satellite to be solved are selected from all the solution parameters corresponding to the simplified dynamic orbit determination method of the low-orbit satellite and Epoch clock error parameters, represents the dynamic parameters of low-orbit satellites and The formal covariance matrix of the epoch clock error parameters; according to The partial derivative matrix of the low-orbit satellite orbit to the low-orbit satellite dynamic parameters in the epoch inertial coordinate system, the rotation matrix from the inertial coordinate system to the earth-fixed coordinate system, and the low-orbit satellite dynamic parameters and The form covariance matrix of the epoch clock error parameters is obtained The formal covariance matrix of the dynamic orbit and clock parameters of the low-orbit satellite in the epoch earth-fixed coordinate system is expressed as: ， ， in, express The formal covariance matrix of the dynamic orbit and clock parameters of the low-orbit satellite in the epoch Earth-fixed coordinate system is: express epoch parameter conversion matrix, express The rotation matrix from the epoch inertial coordinate system to the Earth-fixed coordinate system, express The partial derivative matrix of the dynamical orbit of the low-orbit satellite with respect to the dynamical parameters of the low-orbit satellite in the epoch-inertial coordinate system.

3. The method according to claim 1, characterized in that When the current orbit determination method is the low-orbit satellite kinematic orbit determination method, According to the measurement geometry of the low-orbit satellite facing the GNSS satellite, based on the carrier phase and pseudo-range ionosphere-free combined observation equation corresponding to the current orbit determination method, the formal covariance matrix of the low-orbit satellite orbit and clock error parameters in the earth-fixed coordinate system is obtained, including: According to the measurement geometry of the low-orbit satellite facing the GNSS satellite, based on the carrier phase and pseudo-range ionosphere-free combined observation equation corresponding to the low-orbit satellite kinematic orbit determination method, the formal covariance matrix of all solution parameters corresponding to the low-orbit satellite kinematic orbit determination method is obtained, which is expressed as: ， in, The formal covariance matrix representing all solution parameters corresponding to the low-orbit satellite kinematic orbit determination method, represents the second design matrix, which contains the partial derivatives of all observation data with respect to all solution parameters corresponding to the low-orbit satellite kinematic orbit determination method. Represents the covariance matrix of the observed data; According to the formal covariance matrix of all parameters corresponding to the LEO satellite kinematic orbit determination method, we can obtain The formal covariance matrix of the kinematic orbit and clock error parameters of the low-orbit satellite in the epoch earth-fixed coordinate system is expressed as: ， in, express The formal covariance matrix of the kinematic orbit and clock error parameters of the low-orbit satellite in the epoch Earth-fixed coordinate system, Select the solution from all the solution parameters corresponding to the low-orbit satellite kinematic orbit determination method Kinematic orbit and clock error parameters of low-orbit satellites in the epoch Earth-fixed coordinate system.

4. The method according to claim 2, characterized in that: The precision factor DOP value of the low-orbit satellite orbit and clock error parameters in the earth-fixed coordinate system is determined according to the formal covariance matrix of the low-orbit satellite orbit and clock error parameters in the earth-fixed coordinate system, which is expressed as: ， ， ， ， Among them, the general formula represent The covariance matrix of the dynamic orbit and clock parameters of low-orbit satellites in the epoch Earth-fixed coordinate system is Line The elements of the column, , , represents the root mean square RMS of the observations with unit weight, express The DOP value of the epoch low-orbit satellite dynamic orbit in the X-axis direction of the earth-fixed coordinate system, express The DOP value of the epoch low-orbit satellite dynamic orbit in the Y-axis direction of the earth-fixed coordinate system, express The DOP value of the epoch low-orbit satellite dynamic orbit in the Z-axis direction of the earth-fixed coordinate system, express The DOP value of the precision of the clock error parameters in the simplified dynamic orbit determination mode of the epoch low-orbit satellite.

5. The method according to claim 2, characterized in that: The precision factor DOP value of the low-orbit satellite orbit and clock error parameters in the earth-fixed coordinate system is determined according to the formal covariance matrix of the low-orbit satellite orbit and clock error parameters in the earth-fixed coordinate system, which is expressed as: ， ， ， in, ， ， ， ， ， ， express The covariance matrix of radial, tangential, normal orbit and clock error parameters of low-orbit satellite dynamics in the epoch Earth-fixed coordinate system, express The rotation matrix from the epoch Earth-fixed coordinate system to the orbital coordinate system, express The DOP value of the dynamic radial orbit of the epoch low-orbit satellite, express The DOP value of the dynamic tangential orbit of the epoch low-orbit satellite, express The DOP value of the dynamic normal orbit of the epoch low-orbit satellite, express The DOP value of the precision of the clock error parameters in the simplified dynamic orbit determination mode of the epoch low-orbit satellite, The correlation factor between the radial orbit and clock error parameters of the LEO satellite dynamics, Represents the correlation factor between the dynamic tangential orbit and clock error parameters of the low-orbit satellite, Represents the correlation factor between the LEO satellite dynamics normal orbit and clock error parameters, express epoch LEO satellite positions, express The velocity of the LEO satellite in the epoch, Represents the observation root mean square RMS of unit weight, general formula represent The covariance matrix of the dynamic orbit and clock parameters of low-orbit satellites in the epoch Earth-fixed coordinate system is Line The elements of the column, , .

6. The method according to claim 3, characterized in that The precision factor DOP value of the low-orbit satellite orbit and clock error parameters in the earth-fixed coordinate system is determined according to the formal covariance matrix of the low-orbit satellite orbit and clock error parameters in the earth-fixed coordinate system, which is expressed as ， ， ， ， Among them, the general formula represent The form of the covariance matrix of the kinematic orbit and clock error parameters of the low-orbit satellite in the epoch Earth-fixed coordinate system is Line The elements of the column, , , express The DOP value of the precision factor of the epoch low-orbit satellite kinematic orbit in the X-axis direction of the earth-fixed coordinate system, express The DOP value of the precision factor of the epoch low-orbit satellite kinematic orbit in the Y-axis direction of the earth-fixed coordinate system, express The DOP value of the precision factor of the epoch low-orbit satellite kinematic orbit in the Z-axis direction of the earth-fixed coordinate system, express The DOP value of the precision of the clock error parameters in the epoch kinematic orbit determination mode, express The covariance matrix of the epoch low-orbit satellite kinematic orbit and clock parameters, represents the root mean square of the observations with unit weight.

7. The method according to claim 3, characterized in that The precision factor DOP value of the low-orbit satellite orbit and clock error parameters in the earth-fixed coordinate system is determined according to the formal covariance matrix of the low-orbit satellite orbit and clock error parameters in the earth-fixed coordinate system, which is expressed as: ， ， ， in, ， ， ， ， express The covariance matrix of the radial, tangential, normal orbit and clock error parameters of the low-orbit satellite kinematics in the epoch earth-fixed coordinate system, express The rotation matrix of the LEO satellite kinematic orbit to the LEO satellite kinematic radial, tangential and normal orbits in the epoch earth-fixed system, Represents the correlation factor between the radial orbit and clock error parameters of the low-orbit satellite kinematics, Represents the correlation factor between the kinematic tangential orbit and clock error parameters of the low-orbit satellite, Represents the correlation factor between the kinematic normal orbit and clock error parameters of the low-orbit satellite, express The DOP value of the kinematic radial orbit of the epoch low-orbit satellite, express The DOP value of the tangential orbit of the epoch low-orbit satellite kinematics, express The DOP value of the kinematic normal orbit of the epoch low-orbit satellite, express The DOP value of the precision of the clock error parameters in the epoch kinematic orbit determination mode, Represents the observation root mean square RMS of unit weight, general formula represent The form of the covariance matrix of the kinematic orbit and clock error parameters of the low-orbit satellite in the epoch Earth-fixed coordinate system is Line The elements of the column, , .

8. A device for determining the DOP value of a low-orbit satellite, characterized in that: include: The first processing module is used to obtain the formal covariance matrix of the orbit and clock error parameters of the low-orbit satellite in the earth-fixed coordinate system according to the measurement geometry of the low-orbit satellite facing the GNSS satellite and based on the carrier phase and pseudo-range ionosphere-free combined observation equation corresponding to the current orbit determination method; the current orbit determination method is a simplified dynamic orbit determination method for low-orbit satellites or a kinematic orbit determination method for low-orbit satellites; The second processing module is used to determine the precision factor DOP value of the low-orbit satellite orbit and clock error parameters in the earth-fixed coordinate system according to the formal covariance matrix of the low-orbit satellite orbit and clock error parameters in the earth-fixed coordinate system.

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