GNSS satellite precise orbit determination method, device and equipment under regional station condition and medium

Abstract

The invention discloses a GNSS satellite precise orbit determination method, device, equipment and medium under a regional station condition, and the method comprises the steps: obtaining the GNSS observation data of a regional ground observation station and the satellite-borne GNSS observation data of a low-orbit satellite, and carrying out the combined orbit determination, and obtaining a preliminary regional station GNSS satellite orbit determination result; according to the initial region station GNSS satellite orbit determination result and the IGS global station GNSS satellite orbit determination result, space reference conversion parameters are obtained through solving; and correcting the initial regional station GNSS satellite orbit determination result of the current day based on the historical space reference conversion parameters to obtain a regional station GNSS satellite orbit determination result after space reference error compensation. According to the method, combined orbit determination calculation is adopted, and centimeter-level high-precision orbit determination is achieved; the idea of combining space reference conversion is proposed for the first time to analyze the effect, and space reference errors caused by the overall rotation effect are corrected according to space reference conversion parameters.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite precise orbit determination, and in particular to a GNSS satellite precise orbit determination method, device, equipment and medium under regional station conditions. Background Art

[0002] As an important space-time infrastructure, the Global Navigation Satellite System (GNSS) can provide global users with all-weather, all-time, high-precision navigation, positioning and timing (PNT) services. The Beidou Satellite Navigation System (BDS) has completed global networking, and ground stations used to maintain the normal operation and monitoring of the system can only be deployed in domestic areas. Regionally deployed ground stations cannot track medium and high orbit satellites (MEO) throughout the arc. In addition, compared with other GNSS system constellations, the BDS constellation also includes geostationary orbit (GEO) satellites, which are stationary relative to ground stations. The weak ground observation geometry will bring about large system errors such as ionosphere and troposphere, resulting in poor orbit determination accuracy of GEO satellites.

[0003] The problem of regional station layout affecting BDS satellite orbit determination can be solved by using low-orbit satellite (LEO) assisted navigation satellite precise orbit determination enhancement. However, intersatellite observations of high and low orbits are insensitive to the two orbital parameters of orbital inclination and ascending node right ascension, resulting in inaccurate spatial reference of the joint orbit determination results of regional stations. The above situation leads to limited orbit determination accuracy of regional stations, which makes it difficult to meet the global precision positioning service needs. In the prior art, there are several technical methods that are highly relevant to this method.

[0004] The patent application with publication number CN109764879A discloses a satellite orbit determination method, device and electronic equipment. According to the first observation value and the second observation value of the navigation satellite determined by the ground receiver and the receiver of the low-orbit satellite at the current positioning time, the precise orbit of the navigation satellite and the precise orbit of the low-orbit satellite are solved respectively. Since the low-orbit satellite moves faster relative to the ground (large angular velocity), the geometric changes of the observation data are fast, which can accelerate the convergence speed of the carrier phase integer ambiguity estimation, greatly improve the positioning accuracy and shorten the high-precision positioning convergence time. Therefore, by combining the ground observation data and the low-orbit satellite observation data, the precise orbit determination of the navigation satellite is achieved while reducing the convergence time. However, this method only reduces the convergence time required for navigation satellite orbit determination, and does not take into account the distribution of navigation satellite monitoring stations. At the same time, it does not take into account the overall rotation effect caused by inter-satellite observations in the case of regional station orbit determination. There is still a certain gap between the orbit determination accuracy and the global network orbit determination.

[0005] The patent application with publication number CN113608247A discloses a satellite orbit determination method. On the basis of multi-satellite multi-station orbit determination based on L-band satellite-to-earth observation data, Ka-band intersatellite observation data is added, breaking through the limitation of ground monitoring receivers on satellite orbit accuracy, and can improve the accuracy of broadcast ephemeris of each navigation satellite in the satellite navigation system. The method is applied to the Beidou satellite navigation system, which can effectively improve the orbit determination accuracy of navigation satellites in the Beidou satellite navigation system and the availability of the satellite navigation system. However, the preprocessing process of this method is relatively complicated, and it is necessary to sequentially perform preprocessing operations such as pseudo-range data gross error elimination, L-band phase data cycle slip detection, and Ka-band intersatellite observation data epoch reduction, and only use the Chinese regional monitoring station as the anchor station, and there is also the problem of overall rotation of the constellation.

[0006] The patent application with publication number CN117169930A discloses a method, device and equipment for determining the orbit of a navigation satellite. It uses pseudo-range observations and phase observations of dual-frequency GNSS to determine the orbit of the navigation satellite by fixing the non-difference ambiguity. In this process, no independent baseline selection is required, which avoids the complexity of building an independent double-difference ambiguity algorithm and significantly improves the ambiguity fixing ratio, thereby improving the accuracy of satellite orbit and clock error determination. However, this method only improves the accuracy of satellite orbit and clock error from the perspective of solution strategy, and does not consider the accuracy impact caused by the deployment of regional monitoring stations. The orbit determination accuracy is seriously affected by the observations of regional stations and is far lower than the orbit determination accuracy of the global network. Summary of the invention

[0007] The present invention provides a GNSS satellite precise orbit determination method, device, equipment and medium under regional station conditions, so as to solve the problem that the existing orbit determination scheme has poor orbit determination accuracy under regional station conditions.

[0008] In a first aspect, a GNSS satellite precise orbit determination method under regional station conditions is provided, comprising the following steps: S1: Obtain GNSS observation data from regional ground stations and GNSS observation data from low-orbit satellites, and perform joint orbit determination to obtain preliminary GNSS satellite orbit determination results for regional stations; S2: Based on the preliminary GNSS satellite orbit determination results of the regional stations and the GNSS satellite orbit determination results calculated by the IGS global stations, the spatial reference conversion parameters are obtained; S3: The preliminary regional station GNSS satellite orbit determination result of the current day is corrected based on the historical space reference conversion parameters to obtain the regional station GNSS satellite orbit determination result after compensating the space reference error.

[0009] Furthermore, step S1 specifically includes: For regional ground stations and low-orbit satellites, the observation equations of pseudorange and carrier phase are established respectively; For regional ground stations and low-orbit satellites, the residual values ​​of the observed and calculated values ​​of their pseudoranges and carrier phases are calculated respectively; The initial orbit parameters of the GNSS satellite are jointly estimated based on the least squares processing method, and then the preliminary regional station GNSS satellite orbit determination results are obtained.

[0010] Furthermore, step S2 specifically includes: The conversion formula corresponding to the spatial reference conversion parameters is as follows: ; In the formula, , , are three translation parameters, , , are three rotation parameters, is the scaling parameter, and the above parameters constitute the spatial reference conversion parameters; ( , , ) is the satellite coordinates in the preliminary regional station GNSS satellite orbit determination results, ( , , ) is the GNSS satellite coordinate after conversion by spatial reference conversion parameters; Taking the spatial reference transformation parameters as unknowns and linearizing them according to the parameters, it can be converted into the error equation: = ; In the formula, ( , , ) are the GNSS satellite coordinates calculated by the IGS global station for the same GNSS satellite at the same time; The error equations of multiple moments of all GNSS satellites in the navigation constellation are combined and solved by least squares processing to obtain the spatial reference conversion parameters.

[0011] Furthermore, step S3 specifically includes: Based on the GNSS observation data within a certain historical period, multiple sets of spatial reference conversion parameters are obtained; Taking the average of multiple sets of spatial reference conversion parameters to obtain the final spatial reference conversion parameters; The final spatial reference conversion parameters are used to correct the preliminary regional station GNSS satellite orbit determination results to obtain the regional station GNSS satellite orbit determination results after compensating for the spatial reference errors.

[0012] Furthermore, it also includes: S4: The GNSS satellite orbit determination results of the regional station before and after the correction of the same GNSS satellite at the same time are subtracted from the GNSS orbit determination results of the IGS global station to obtain a three-dimensional difference sequence and calculate the RMS value to achieve orbit accuracy evaluation of the GNSS satellite orbit determination results of the regional station before and after the correction.

[0013] Furthermore, it also includes: S5: The GNSS orbit determination results of the IGS global station and the GNSS satellite orbit determination results of the regional stations before and after correction are used for precise single-point positioning of ground stations in different regions around the world, and the results are subtracted from the precise ground station coordinates to determine the positioning accuracy of the three orbit determination results for precise single-point positioning in different regions.

[0014] In a second aspect, a GNSS satellite precise orbit determination device under regional station conditions is provided, comprising: The joint orbit determination module is used to obtain the GNSS observation data of regional ground stations and the GNSS observation data of low-orbit satellites, and perform joint orbit determination to obtain preliminary regional station GNSS satellite orbit determination results; The space reference conversion parameter solving module is used to solve the space reference conversion parameters according to the preliminary regional station GNSS satellite orbit determination results and the GNSS satellite orbit determination results solved by the IGS global station; The orbit determination result correction module is used to correct the preliminary regional station GNSS satellite orbit determination result of the current day based on the historical space reference conversion parameters to obtain the regional station GNSS satellite orbit determination result after compensating the space reference error.

[0015] In a third aspect, an electronic device is provided, including: Memory on which computer programs or instructions are stored; A processor is used to load and execute the computer program or instructions to implement the GNSS satellite precise orbit determination method under the regional station conditions as described above.

[0016] In a fourth aspect, a computer-readable storage medium is provided, on which a computer program or instruction is stored. When the computer program or instruction is executed by a processor, the method for precise orbit determination of GNSS satellites under regional station conditions as described above is implemented.

[0017] The present invention proposes a method, device, equipment and medium for precise orbit determination of GNSS satellites under regional station conditions, which has the following beneficial effects: (1) Compared with most existing technologies that do not consider the reality of regional station deployment, the present invention considers the joint orbit determination solution of a small number of ground stations and a small number of low-orbit satellites to achieve centimeter-level high-precision orbit determination; (2) The prior art does not pay attention to the overall rotation effect of the constellation caused by inter-satellite observation during the joint orbit determination of high, medium and low orbit satellites. The present invention focuses on this problem and proposes for the first time the idea of ​​combining space reference conversion to analyze this effect and correct the space reference error caused by the overall rotation effect according to the space reference conversion parameters. (3) Compared with the related existing technical methods, the data used in the present invention only include ground station GNSS observation data and low-orbit satellite-borne GNSS observation data. The data type and data preprocessing strategy are basically the same. Only the dynamic orbit determination method is used. The implementation process is relatively simple and the calculation amount is small. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a flow chart of a GNSS satellite precise orbit determination method under regional station conditions provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0020] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0021] The technical problems to be solved by the present invention are as follows: (1) The ground stations used by the BDS (Beidou Navigation Satellite System) constellation to maintain the normal operation and monitoring of the system can only be deployed in domestic areas. However, the ground stations deployed in the region cannot track the entire arc of medium and high orbit satellites. The above reasons limit the orbit determination accuracy of Beidou / GNSS satellites in the regional station orbit determination mode; low-orbit satellites can be used as space-based mobile monitoring stations to make up for the shortcomings of insufficient monitoring arcs of regional stations. The present invention proposes to use a joint orbit determination strategy of high, medium and low orbit satellites to solve the problem of GNSS satellite orbit determination accuracy in the regional station mode, achieve global observation arc coverage under regional station conditions, further accelerate the GNSS orbit determination convergence time, and at the same time improve the orbit accuracy of GNSS satellites in the regional station mode. The data types of space-based GNSS and ground-based GNSS are the same, and data fusion processing is relatively simple compared to other methods. The data processing process is further simplified, which improves the efficiency of satellite orbit determination.

[0022] (2) The joint orbit determination of high, medium and low satellites can greatly improve the orbit determination accuracy compared to orbit determination using only regional ground stations. The main reason for the improvement in accuracy is the increase in space-based observation data of low-orbit satellites on GNSS satellites. However, intersatellite observations are insensitive to the two orbital parameters of orbital inclination and ascending node right ascension, resulting in inaccurate spatial reference of the joint orbit determination results of regional stations. In this case, there is still a difference in spatial reference between the orbit determination results of the regional station and the orbit determination results of the global station, and the spatial reference of the orbit determination of the global station is more accurate. The present invention combines the idea of ​​spatial reference conversion to solve the spatial reference conversion parameters between the orbit determination results of the regional station and the orbit determination results of the global station, thereby analyzing the spatial reference difference between the two.

[0023] (3) Based on the long-term orbit determination results of regional stations and global stations, the spatial reference conversion parameter sequence is solved using the spatial reference conversion method. The spatial reference conversion parameters are modeled respectively, and the modeling results are applied to the subsequent orbit determination results to correct the spatial reference errors that still exist in the joint orbit determination of high, medium and low orbits of regional stations. The corrected orbit determination results are used for PPP positioning of monitoring stations in different regions of the world. The PPP service effect of the orbits before and after correction is verified by the positioning results, thereby verifying the effectiveness of the method proposed in this invention.

[0024] The technical solution of the present invention is described in detail below in conjunction with specific embodiments.

[0025] The embodiment of the present invention provides a GNSS satellite precise orbit determination method under regional station conditions, comprising the following steps: S1: Obtain GNSS observation data from regional ground stations and GNSS observation data from low-orbit satellites, and perform joint orbit determination to obtain preliminary GNSS satellite orbit determination results for regional stations.

[0026] Specifically, step S1 includes: S11: For the regional ground stations and low-orbit satellites, the observation equations of pseudorange and carrier phase are established and expressed as follows: ; ; In the formula, and They represent the pseudorange observations and carrier phase observations received by the ground station respectively; and denote the pseudorange observations and carrier phase observations received by the low-orbit satellite respectively; Represents GNSS satellite, subscript , and They represent ground stations, low-orbit satellites, and frequencies respectively; Indicates the geometric distance between the antenna phase center of the GNSS satellite and the ground receiver; Represents the geometric distance between the antenna phase center of the GNSS satellite and the onboard receiver; , and They refer to the clock errors of ground receivers, spaceborne receivers and GNSS satellites respectively; and denote the oblique ionospheric delay of the ground station and the low-orbit satellite, respectively; is the tropospheric delay of the ground station; and They refer to the phase ambiguity of the ground receiver and the satellite receiver respectively; ( , , )and( , , ) represent pseudorange and carrier phase hardware delay respectively; and They represent the measurement noise of pseudorange and carrier phase received by the ground station respectively; and They represent the measurement noise of pseudorange and carrier phase received by LEO satellites respectively; Indicates frequency signal wavelength.

[0027] S12: For the regional ground stations and low-orbit satellites, the residual OC (Observation-Computed) values ​​of the observed and calculated values ​​of the pseudorange and carrier phase are calculated respectively, and expressed as follows: ; ; ; In the formula, and The OC values ​​represent the observed and calculated pseudoranges of the ground station and the low-orbit satellite respectively under the ionosphere-free IF combination. and The OC values ​​represent the observed and calculated carrier phases of the ground station and the LEO satellite respectively under the ionosphere-free IF combination; and Represent the unit vectors from GNSS satellite to ground receiver and LEO satellite onboard receiver respectively; is the current observation time, is the initial state quantity corresponding to the moment, and Represent the state transfer matrices of GNSS satellites and low-orbit satellites respectively; represents the initial state and dynamic parameters of the GNSS satellite, Represents the initial state and dynamic parameters of the low-orbit satellite; is the zenith wet tropospheric delay parameter at the ground station, is the mapping function, is the signal wavelength of the ionospheric-free IF (Ionospheric-Free) combination, , , They are the pseudorange hardware delays of the satellite, ground receiver, and onboard receiver in the ionospheric-free IF combination. , , are the carrier phase hardware delays at the satellite end, ground receiver end, and onboard receiver end in the case of ionosphere-free IF combination, , They are the phase ambiguities of the ground receiver and the satellite receiver in the case of ionospheric-free IF combination. It is worth noting that the estimated satellite clock error parameter absorbs the pseudorange hardware delay at the satellite end, while the estimated clock error of the ground or satellite receiver absorbs the pseudorange hardware delay at the receiver end. The hardware delays at both the satellite and receiver ends are absorbed by the phase ambiguity parameters, forming the uncalibrated phase delay parameter, namely UPD.

[0028] Therefore, the estimated parameters for the joint orbit determination of high, medium and low orbits can be expressed as: ; ; In the formula, Represents the initial state and dynamic parameters of the GNSS satellite, including the initial position of the GNSS satellite , initial speed and kinetic parameters ; Represents the initial state and dynamic parameters of the low-orbit satellite, including the initial position of the low-orbit satellite , initial velocity and kinetic parameters .

[0029] S13: Jointly estimate all parameters to be estimated based on the least squares processing method. The purpose of joint processing of ground station and low-orbit satellite observations is to obtain the initial orbit parameters of GNSS satellites. , and then obtain the preliminary regional station GNSS satellite orbit determination results.

[0030] S2: Based on the preliminary GNSS satellite orbit determination results of the regional station and the GNSS satellite orbit determination results calculated by the IGS (International GNSS Service) global station, the spatial reference conversion parameters are obtained.

[0031] Specifically, step S2 includes: The conversion formula corresponding to the spatial reference conversion parameters is as follows: ; In the formula, , , are three translation parameters, , , are three rotation parameters, is the scaling parameter, and the above parameters constitute the spatial reference conversion parameters; ( , , ) is the satellite coordinates in the preliminary regional station GNSS satellite orbit determination results, ( , , ) is the GNSS satellite coordinate after conversion by spatial reference conversion parameters; Taking the spatial reference transformation parameters as unknowns and linearizing them according to the parameters, it can be converted into the error equation: = ; In the formula, ( , , ) are the GNSS satellite coordinates calculated by the IGS global station for the same GNSS satellite at the same time; Taking the BDS-3 constellation as an example, the constellation includes 3 GEO satellites, 3 IGSO satellites and 24 MEO satellites, and each satellite includes several orbital points in a day. The corresponding preliminary regional station GNSS satellite orbit determination results and global station GNSS satellite orbit determination results at each moment can constitute the above error equation. In order to make the obtained spatial reference conversion parameters can express the rotation effect of the entire constellation, the error equations of all GNSS satellites in the navigation constellation at all times in a day are combined, and the spatial reference conversion parameters are obtained by least squares processing.

[0032] S3: The preliminary regional station GNSS satellite orbit determination result of the current day is corrected based on the historical space reference conversion parameters to obtain the regional station GNSS satellite orbit determination result after compensating the space reference error.

[0033] Through the processing of step S2, a set of space reference conversion parameters can be obtained every day. If the processing is carried out for a long time, multiple sets of space reference conversion parameters can be obtained to form a time series of changes in space reference conversion parameters. There is an overall systematic deviation in the space reference conversion parameters, so the space reference conversion parameters are averaged. For example, 30 sets of space reference conversion parameters can be solved using the preliminary regional station GNSS satellite orbit determination results and the IGS global station GNSS satellite orbit determination results of the past 30 days. The average of the 30 sets of parameters is taken to obtain the mean of the space reference conversion parameters, which is used for the satellite coordinate conversion of the preliminary regional station GNSS satellite orbit determination results of the current day, and the regional station GNSS satellite orbit determination results after compensating for the space reference error are obtained. In this sliding process, the result of the current day is corrected using the mean of the space reference conversion parameters of the previous 30 days to compensate for the space reference error.

[0034] In some preferred embodiments, step S4 is also included: subtracting the regional station GNSS satellite orbit determination results and the IGS global station GNSS orbit determination results of the same GNSS satellite before and after correction at the same time to obtain a three-dimensional difference sequence and calculate the RMS value to achieve orbit accuracy evaluation of the regional station GNSS satellite orbit determination results before and after correction.

[0035] In some preferred embodiments, step S5 is also included: using the IGS global station GNSS orbit determination results and the regional station GNSS satellite orbit determination results before and after correction for precise point positioning (PPP) of ground stations in different regions around the world, and subtracting them from the precise ground station coordinates to determine the positioning accuracy of the three orbit determination results for precise point positioning in different regions.

[0036] The GNSS satellite precise orbit determination method under regional station conditions proposed in the above embodiment has the following beneficial effects: (1) To address the problem of limited GNSS satellite orbit determination accuracy under the conditions of regional station deployment, the present invention considers the joint orbit determination solution of a small number of ground stations and a small number of low-orbit satellites, and uses the method of joint orbit determination of high, medium and low-orbit satellites to make up for the shortcomings of the regional station monitoring arc segment, achieve centimeter-level high-precision orbit determination, and greatly improve the GNSS satellite orbit determination accuracy; (2) The prior art does not pay attention to the overall rotation effect of the constellation caused by inter-satellite observation during the joint orbit determination of high, medium and low orbit satellites. The present invention focuses on this problem and proposes for the first time the idea of ​​combining space reference conversion to analyze this effect. The space reference error caused by the overall rotation effect is corrected according to the space reference conversion parameters, thereby further improving the orbit determination accuracy of regional stations. (3) Compared with the related existing technical methods, the data used in the present invention only include ground station GNSS observation data and low-orbit satellite-borne GNSS observation data. The data type and data preprocessing strategy are basically the same. Only the dynamic orbit determination method is used. The implementation process is relatively simple and the calculation amount is small.

[0037] (4) The prior art does not consider applying the joint orbit determination results of high, medium and low orbits to the PPP service verification of stations in different regions around the world. The present invention proposes to use the corrected results for PPP verification.

[0038] The embodiment of the present invention further provides a GNSS satellite precise orbit determination device under regional station conditions, comprising: The joint orbit determination module is used to obtain the GNSS observation data of regional ground stations and the GNSS observation data of low-orbit satellites, and perform joint orbit determination to obtain preliminary regional station GNSS satellite orbit determination results; The space reference conversion parameter solving module is used to solve the space reference conversion parameters according to the preliminary regional station GNSS satellite orbit determination results and the GNSS satellite orbit determination results solved by the IGS global station; The orbit determination result correction module is used to correct the preliminary regional station GNSS satellite orbit determination result of the current day based on the historical space reference conversion parameters to obtain the regional station GNSS satellite orbit determination result after compensating the space reference error.

[0039] It should be understood that the functional unit modules in various embodiments of the present invention may be concentrated in one processing unit, or each unit module may exist physically separately, or two or more unit modules may be integrated in one unit module, and may be implemented in the form of hardware or software.

[0040] An embodiment of the present invention further provides an electronic device, including: Memory on which computer programs or instructions are stored; A processor is used to load and execute the computer program or instructions to implement the GNSS satellite precise orbit determination method under the regional station conditions as described above.

[0041] An embodiment of the present invention further provides a computer-readable storage medium having a computer program or instruction stored thereon. When the computer program or instruction is executed by a processor, the method for precise orbit determination of GNSS satellites under regional station conditions as described above is implemented.

[0042] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0043] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0044] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0045] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0046] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0047] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A GNSS satellite precise orbit determination method under regional station conditions, characterized in that: The steps include: S1: Obtain GNSS observation data from regional ground stations and GNSS observation data from low-orbit satellites, and perform joint orbit determination to obtain preliminary GNSS satellite orbit determination results for regional stations; S2: Based on the preliminary GNSS satellite orbit determination results of the regional stations and the GNSS satellite orbit determination results calculated by the IGS global stations, the spatial reference conversion parameters are obtained; S3: The preliminary regional station GNSS satellite orbit determination result of the current day is corrected based on the historical space reference conversion parameters to obtain the regional station GNSS satellite orbit determination result after compensating the space reference error.

2. The GNSS satellite precise orbit determination method under regional station conditions according to claim 1, characterized in that: Step S1 specifically includes: For regional ground stations and low-orbit satellites, the observation equations of pseudorange and carrier phase are established respectively; For regional ground stations and low-orbit satellites, the residual values ​​of the observed and calculated values ​​of their pseudoranges and carrier phases are calculated respectively; The initial orbit parameters of the GNSS satellite are jointly estimated based on the least squares processing method, and then the preliminary regional station GNSS satellite orbit determination results are obtained.

3. The GNSS satellite precise orbit determination method under regional station conditions according to claim 1, characterized in that: Step S2 specifically includes: The conversion formula corresponding to the spatial reference conversion parameters is as follows: ； In the formula, , , are three translation parameters, , , are three rotation parameters, is the scaling parameter, and the above parameters constitute the spatial reference conversion parameters; ( , , ) is the satellite coordinates in the preliminary regional station GNSS satellite orbit determination results, ( , , ) is the GNSS satellite coordinate after conversion by spatial reference conversion parameters; Taking the spatial reference transformation parameters as unknowns and linearizing them according to the parameters, it can be converted into the error equation: = ； In the formula, ( , , ) are the GNSS satellite coordinates calculated by the IGS global station for the same GNSS satellite at the same time; The error equations of multiple moments of all GNSS satellites in the navigation constellation are combined and solved by least squares processing to obtain the spatial reference conversion parameters.

4. The GNSS satellite precise orbit determination method under regional station conditions according to claim 1, characterized in that: Step S3 specifically includes: Based on the GNSS observation data within a certain historical period, multiple sets of spatial reference conversion parameters are obtained; Taking the average of multiple sets of spatial reference conversion parameters to obtain the final spatial reference conversion parameters; The final spatial reference conversion parameters are used to correct the preliminary regional station GNSS satellite orbit determination results to obtain the regional station GNSS satellite orbit determination results after compensating for the spatial reference errors.

5. The GNSS satellite precise orbit determination method under regional station conditions according to claim 1, characterized in that: Also includes: S4: The GNSS satellite orbit determination results of the regional station before and after the correction of the same GNSS satellite at the same time are subtracted from the GNSS orbit determination results of the IGS global station to obtain a three-dimensional difference sequence and calculate the RMS value to achieve orbit accuracy evaluation of the GNSS satellite orbit determination results of the regional station before and after the correction.

6. The GNSS satellite precise orbit determination method under regional station conditions according to claim 1, characterized in that: Also includes: S5: The GNSS orbit determination results of the IGS global station and the GNSS satellite orbit determination results of the regional stations before and after correction are used for precise single-point positioning of ground stations in different regions around the world, and the three orbit determination results are subtracted from the precise ground station coordinates to determine the positioning accuracy of precise single-point positioning in different regions.

7. A GNSS satellite precise orbit determination device under regional station conditions, characterized in that: include: The joint orbit determination module is used to obtain the GNSS observation data of regional ground stations and the GNSS observation data of low-orbit satellites, and perform joint orbit determination to obtain preliminary regional station GNSS satellite orbit determination results; The space reference conversion parameter solving module is used to solve the space reference conversion parameters according to the preliminary regional station GNSS satellite orbit determination results and the GNSS satellite orbit determination results solved by the IGS global station; The orbit determination result correction module is used to correct the preliminary regional station GNSS satellite orbit determination result of the current day based on the historical space reference conversion parameters to obtain the regional station GNSS satellite orbit determination result after compensating the space reference error.

8. An electronic device, characterized in that: include: Memory on which computer programs or instructions are stored; A processor is used to load and execute the computer program or instructions to implement the GNSS satellite precise orbit determination method under regional station conditions as described in any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: When the computer program or instruction is executed by a processor, the method for precise orbit determination of GNSS satellites under regional station conditions as described in any one of claims 1 to 6 is implemented.

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