GNSS Satellite Precise Orbit Determination Method, Device, Equipment and Medium under the Condition of Regional Stations

Abstract

The present invention discloses a method, device, equipment and medium for precise orbit determination of GNSS satellites under the condition of regional stations. The method includes: obtaining GNSS observation data of regional ground stations and on-board GNSS observation data of low-earth orbit satellites, and performing combined orbit determination to obtain a preliminary orbit determination result of GNSS satellites in regional stations; solving to obtain spatial reference transformation parameters according to the preliminary orbit determination result of GNSS satellites in regional stations and the orbit determination result of GNSS satellites of IGS global stations; correcting the preliminary orbit determination result of GNSS satellites in regional stations on the current day based on historical spatial reference transformation parameters to obtain an orbit determination result of GNSS satellites in regional stations after compensating for spatial reference errors. The present invention uses combined orbit determination calculation to achieve centimeter-level high-precision orbit determination; for the first time, the idea of combining spatial reference transformation is proposed to analyze this effect, and the spatial reference errors caused by the overall rotation effect are corrected according to the spatial reference transformation parameters.

Description

Technical Field

[0001] The present invention relates to the technical field of precise satellite orbit determination, and particularly to a method, device, equipment and medium for precise GNSS satellite orbit determination under the condition of regional stations. Background Art

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

[0003] The problem of the influence of regional station layout on BDS satellite orbit determination can be solved by using low Earth orbit (LEO) satellite-aided precise orbit determination enhancement of navigation satellites. However, the inter-satellite observations between high and low orbits are insensitive to two orbital parameters, namely orbital inclination and right ascension of the ascending node, resulting in inaccurate spatial reference of the combined orbit determination results of regional stations. The above situation limits the orbit determination accuracy of regional stations and is difficult to meet the requirements of global precise positioning services. In the prior art, there are several technical methods highly relevant to this method as follows.

[0004] The patent application with the publication number CN109764879A discloses a satellite orbit determination method, device and electronic equipment. The first observation value and the second observation value of the navigation satellite are determined according to the ground receiver and the receiver of the low Earth orbit satellite at the current positioning moment, and the precise orbits of the navigation satellite and the low Earth orbit satellite are respectively solved. Since the low Earth orbit satellite moves relatively fast relative to the ground (large angular velocity) and the geometric change of the observation data is fast, the convergence speed of the carrier phase cycle ambiguity estimation can be accelerated, the positioning accuracy can be greatly improved, and the high-precision positioning convergence time can be shortened. Therefore, by combining the ground observation data and the observation data of the low Earth orbit satellite, while realizing the precise orbit determination of the navigation satellite, the convergence time is reduced. However, this method only reduces the convergence time required for navigation satellite orbit determination, does not consider the distribution of navigation satellite monitoring stations, and 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 the publication number CN113608247A discloses a satellite orbit determination method. Based on multi-satellite and multi-station orbit determination using L-band space-ground observation data, Ka-band inter-satellite observation data is added, breaking through the limitation of ground monitoring receivers on satellite orbit accuracy and improving the broadcast ephemeris accuracy 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 complex, and preprocessing operations such as gross error rejection of pseudo-range data for the L-band, cycle slip detection of L-band phase data, and epoch reduction of Ka-band inter-satellite observation data need to be carried out in sequence. Moreover, only Chinese regional monitoring stations are used as anchor stations, and there is also the problem of overall constellation rotation.

[0006] The patent application with the publication number CN117169930A discloses a navigation satellite orbit determination method, device, and equipment. By using the pseudo-range observation values and phase observation values of dual-frequency GNSS and fixing the non-differenced ambiguity, the determination of the navigation satellite orbit is achieved. In this process, there is no need to select independent baselines, avoiding the complexity of constructing an independent double-difference ambiguity algorithm and significantly improving the ambiguity fixing ratio, thereby improving the determination accuracy of satellite orbits and clock errors. However, this method only improves the accuracy of satellite orbits and clock errors from the solution strategy and does not consider the accuracy impact brought by the layout of regional monitoring stations. The orbit determination accuracy is seriously affected by the observations of regional stations and is much 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 to solve the problem of poor orbit determination accuracy in existing orbit determination schemes under regional station conditions.

[0008] In a first aspect, a GNSS satellite precise orbit determination method under regional station conditions is provided, including the following steps:

[0009] S1: Obtain GNSS observation data of regional ground stations and GNSS observation data of low-earth orbit satellite-borne GNSS, and perform joint orbit determination to obtain a preliminary regional station GNSS satellite orbit determination result;

[0010] S2: Solve and obtain spatial reference transformation parameters based on the preliminary regional station GNSS satellite orbit determination result and the GNSS satellite orbit determination result solved by IGS global stations;

[0011] S3: Correct the preliminary regional station GNSS satellite orbit determination result of the current day based on historical spatial reference transformation parameters to obtain a regional station GNSS satellite orbit determination result after compensating for spatial reference errors.

[0012] Further, step S1 specifically includes:

[0013] For regional ground stations and low-orbit satellites, the observation equations of pseudorange and carrier phase are established respectively;

[0014] For regional ground stations and low-orbit satellites, the residual values of the observed and calculated values of pseudorange and carrier phase are calculated respectively;

[0015] The initial orbit parameters of GNSS satellites are jointly estimated based on the least squares processing method, and then the preliminary regional station GNSS satellite orbit determination results are obtained.

[0016] Furthermore, step S2 specifically includes:

[0017] The conversion formula corresponding to the spatial reference conversion parameters is as follows:

[0018] ;

[0019] Where, 、 、 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 coordinate in the preliminary regional station GNSS satellite orbit determination result, ( , , ) is the GNSS satellite coordinate after conversion by spatial reference conversion parameters;

[0020] Taking the spatial reference transformation parameters as unknowns and linearizing them according to the parameters, it can be converted into the error equation:

[0021] = ;

[0022] Where, ( , , ) are the GNSS satellite coordinates calculated by the IGS global station for the same GNSS satellite at the same time;

[0023] The error equations of multiple moments of all GNSS satellites in the navigation constellation are combined and solved through least squares processing to obtain the spatial reference conversion parameters.

[0024] Furthermore, step S3 specifically includes:

[0025] Multiple groups of spatial reference transformation parameters are solved based on GNSS observation data within a certain historical time period;

[0026] The average value of multiple groups of spatial reference transformation parameters is taken to obtain the final spatial reference transformation parameters;

[0027] The preliminary regional station GNSS satellite orbit determination results are corrected using the final spatial reference transformation parameters to obtain the regional station GNSS satellite orbit determination results after compensating for the spatial reference error.

[0028] Furthermore, it also includes:

[0029] S4: The differences between the regional station GNSS satellite orbit determination results before and after correction and the IGS global station GNSS orbit determination results at the same moment of the same GNSS satellite are calculated to obtain a three-dimensional difference sequence and the RMS value is statistically analyzed to evaluate the orbit accuracy of the regional station GNSS satellite orbit determination results before and after correction.

[0030] Furthermore, it also includes:

[0031] S5: The IGS global station GNSS orbit determination results and the regional station GNSS satellite orbit determination results before and after correction are used for precise point positioning of ground stations in different regions of the world, and the differences are calculated with the precise ground station coordinates to determine the positioning accuracy of the three orbit determination results for precise point positioning in different regions.

[0032] In a second aspect, a GNSS satellite precise orbit determination device under regional station conditions is provided, including:

[0033] A combined orbit determination module, which is used to obtain GNSS observation data of regional ground stations and GNSS observation data of low-earth orbit satellites on board, and perform combined orbit determination to obtain preliminary regional station GNSS satellite orbit determination results;

[0034] A spatial reference transformation parameter solving module, which is used to solve spatial reference transformation parameters according to the preliminary regional station GNSS satellite orbit determination results and the GNSS satellite orbit determination results solved by IGS global stations;

[0035] An orbit determination result correction module, which is used to correct the preliminary regional station GNSS satellite orbit determination results of the current day based on historical spatial reference transformation parameters to obtain the regional station GNSS satellite orbit determination results after compensating for the spatial reference error.

[0036] In a third aspect, an electronic device is provided, including:

[0037] A memory, on which computer programs or instructions are stored;

[0038] A processor for loading and executing the computer program or instructions to implement the GNSS satellite precise orbit determination method under the regional station conditions as described above.

[0039] In a fourth aspect, a computer-readable storage medium is provided, on which a computer program or instructions are stored. When the computer program or instructions are executed by a processor, the GNSS satellite precise orbit determination method under the regional station conditions as described above is implemented.

[0040] The present invention provides a GNSS satellite precise orbit determination method, device, equipment and medium under regional station conditions, which has the following beneficial effects:

[0041] (1) Compared with most of the existing technologies that do not consider the actual situation of regional station layout, the present invention considers the combined orbit determination and solution of a small number of ground stations and a small number of low-earth orbit satellites to achieve centimeter-level high-precision orbit determination.

[0042] (2) The existing technologies do not pay attention to the overall constellation rotation effect brought by inter-satellite observations during the combined orbit determination of high, medium and low-earth orbit satellites. The present invention focuses on this problem and first proposes the idea of combining spatial reference transformation to analyze this effect, and corrects the spatial reference error brought by the overall rotation effect according to the spatial reference transformation parameters.

[0043] (3) Compared with the related existing technology methods, the data used in the present invention only includes GNSS observation data of ground stations and GNSS observation data of low-earth orbit satellites. The data types and data preprocessing strategies are basically the same, and only the dynamic orbit determination method is used, so the implementation process is relatively simple and the calculation amount is small. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0045] Figure 1 It is a flowchart of the GNSS satellite precise orbit determination method under the regional station conditions provided by the embodiments of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0046] In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation manners obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0047] The technical problems to be solved by the present invention are as follows:

[0048] (1) The ground stations for maintaining the normal operation and monitoring of the BDS (BeiDou Navigation Satellite System) constellation can only be deployed in the domestic region. However, the ground stations deployed in the region cannot track the medium and high orbit satellites over the entire arc. The above reasons result in limited 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 shortcoming of insufficient monitoring arcs of regional stations. The present invention proposes to use a combined orbit determination strategy of high, medium and low orbit satellites to solve the problem of orbit determination accuracy of GNSS satellites in the regional station mode, realize 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 the data fusion processing is relatively simple compared with other methods, and the data processing process is further simplified, improving the satellite orbit determination efficiency.

[0049] (2) The combined orbit determination of high, medium and low satellites can greatly improve the orbit determination accuracy compared with only using regional ground stations for orbit determination. The main reason for the accuracy improvement is the addition of space-based observation data of low orbit satellites to GNSS satellites. However, the inter-satellite observation is not sensitive to the two orbit parameters of orbit inclination and right ascension of the ascending node, resulting in inaccurate spatial reference of the combined orbit determination results of regional stations. In this case, there is still a difference in the spatial reference between the orbit determination results of regional stations and global stations, and the spatial reference of global station orbit determination 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 regional stations and global stations, so as to analyze the spatial reference difference between the two.

[0050] (3) Based on the long-term orbit determination results of regional stations and global stations, use the spatial reference conversion method to solve the sequence of spatial reference conversion parameters. Model the spatial reference conversion parameters respectively, and apply the modeling results to the subsequent orbit determination results, so as to correct the spatial reference error still existing in the combined orbit determination of high, medium and low orbits of regional stations. Use the corrected orbit determination results for PPP positioning of monitoring stations in different regions of the world, and verify the PPP service effects of the orbits before and after correction through the positioning results, so as to verify the effectiveness of the method proposed by the present invention.

[0051] The following specifically describes the technical solution of the present invention with specific embodiments.

[0052] The embodiment of the present invention provides a method for precise orbit determination of GNSS satellites under regional station conditions, including the following steps:

[0053] S1: Obtain GNSS observation data of regional ground stations and on-board GNSS observation data of low orbit satellites, and perform combined orbit determination to obtain a preliminary orbit determination result of GNSS satellites at regional stations.

[0054] Specifically, step S1 includes:

[0055] S11: For the regional ground stations and low-Earth orbit satellites, establish the observation equations for their pseudorange and carrier phase respectively, and are expressed as follows:

[0056] ;

[0057] ;

[0058] In the formula, and respectively represent the pseudorange observation value and carrier phase observation value received by the ground station; and respectively represent the pseudorange observation value and carrier phase observation value received by the low-Earth orbit satellite; the superscript represents the GNSS satellite, and the subscripts , and respectively represent the ground station, low-Earth orbit satellite and frequency; represents 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 on-board receiver; , and respectively refer to the clock biases of the ground receiver, on-board receiver and GNSS satellite; and respectively represent the slant ionospheric delays of the ground station and low-Earth orbit satellite; is the tropospheric delay of the ground station; and respectively refer to the phase ambiguities of the ground receiver and on-board receiver; ([[]] , , ) and ([[]] , , ) respectively represent the pseudorange and carrier phase hardware delays; and respectively represent the measurement noises of the pseudorange and carrier phase received by the ground station; and respectively represent the measurement noises of the pseudorange and carrier phase received by the low-Earth orbit satellite; represents the frequency of the signal wavelength.

[0059] S12: Calculate the residuals OC (Observation - Computed) values of the pseudorange and carrier phase observations and computed values for the regional ground stations and low - earth - orbit satellites respectively, and express them as follows:

[0060] ;

[0061] ;

[0062] ;

[0063] In the formula, and represent the OC values of the observed and computed pseudorange for the ground station and low - earth - orbit satellite respectively in the case of the ionosphere - free IF combination, and represent the OC values of the observed and computed carrier phase for the ground station and low - earth - orbit satellite respectively in the case of the ionosphere - free IF combination; and represent the unit vectors from GNSS satellites to the ground receiver and the on - board receiver of the low - earth - orbit satellite respectively; is the current observation time, is the time corresponding to the initial state quantity, and represent the state transition matrices of GNSS satellites and low - earth - orbit satellites respectively; represents the initial state quantity and dynamic parameters of GNSS satellites, represents the initial state quantity and dynamic parameters of low - earth - orbit satellites; is the zenith wet tropospheric delay parameter of the ground station, is the mapping function, is the signal wavelength of the ionosphere - free IF (Ionospheric - Free) combination, 、 、 are the pseudorange hardware delays at the satellite side, ground receiver side, and on - board receiver side respectively in the case of the ionosphere - free IF (Ionospheric - Free) combination, 、 、 are the carrier phase hardware delays at the satellite side, ground receiver side, and on - board receiver side respectively in the case of the ionosphere - free IF combination, 、 They are the phase ambiguities of the ground receiver and the spaceborne receiver in the case of the ionosphere-free IF combination respectively; it should be noted 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 spaceborne receiver absorbs the pseudorange hardware delay at the receiver end; the hardware delays at both the satellite end and the receiver end are absorbed by the phase ambiguity parameter, constituting the uncalibrated phase delay parameter, i.e., UPD.

[0064] Therefore, the parameters to be estimated for the combined orbit determination of high, medium, and low orbits can be expressed as:

[0065] ;

[0066] ;

[0067] In the formula, represents the initial state and dynamic parameters of the GNSS satellite, including the initial position of the GNSS satellite, the initial velocity and the dynamic parameter ; represents the initial state and dynamic parameters of the low-earth orbit satellite, including the initial position of the low-earth orbit satellite, the initial velocity and the dynamic parameter .

[0068] S13: Jointly estimate all the parameters to be estimated based on the least squares processing method. The purpose of jointly processing the ground station and low-earth orbit satellite observations is to obtain the initial orbit parameters of the GNSS satellite, and then obtain the preliminary regional station GNSS satellite orbit determination result.

[0069] S2: Solve the space reference transformation parameters according to the preliminary regional station GNSS satellite orbit determination result and the GNSS satellite orbit determination result solved by the IGS (International GNSS Service) global stations.

[0070] Specifically, step S2 includes:

[0071] The conversion formula corresponding to the space reference transformation parameters is expressed as follows:

[0072] ;

[0073] In the formula, , , are three translation parameters, , , are three rotation parameters, is the scaling parameter, and the above parameters constitute the space reference transformation parameters; ( , , ) is the satellite coordinate in the preliminary regional station GNSS satellite orbit determination result, ( , , ) is the GNSS satellite coordinate after conversion by spatial reference conversion parameters;

[0074] Taking the spatial reference transformation parameters as unknowns and linearizing them according to the parameters, it can be converted into the error equation:

[0075] = ;

[0076] Where, ( , , ) are the GNSS satellite coordinates calculated by the IGS global station for the same GNSS satellite at the same time;

[0077] Taking the BDS-3 constellation as an example, it includes three GEO satellites, three IGSO satellites, and 24 MEO satellites, with each satellite reaching several orbital points throughout the day. The initial regional and global GNSS satellite orbit determination results corresponding to each moment in time contribute to the above error equations. To ensure that the resulting spatial reference transformation parameters can account for the rotation effects of the entire constellation, the error equations for all GNSS satellites in the navigation constellation at all times throughout the day are combined and solved using a least-squares method to obtain the spatial reference transformation parameters.

[0078] S3: Correct the preliminary GNSS satellite orbit determination results of the regional stations on the current day based on the historical space reference conversion parameters to obtain the GNSS satellite orbit determination results of the regional stations after compensating for the space reference error.

[0079] Through the processing of step S2, a set of spatial reference conversion parameters can be obtained every day. If the processing is carried out for a long time, multiple sets of spatial reference conversion parameters can be obtained, forming a time series of changes in the spatial reference conversion parameters. The spatial reference conversion parameters have overall systematic deviations, so the spatial reference conversion parameters are averaged. For example, 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, 30 sets of spatial reference conversion parameters can be solved. The average of the 30 sets of parameters is taken to obtain the mean of the spatial reference conversion parameters, which is used to convert the satellite coordinates of the preliminary regional station GNSS satellite orbit determination results of the current day to obtain the regional station GNSS satellite orbit determination results after compensating for the spatial reference error. After such sliding processing, the current day's results are corrected using the mean of the spatial reference conversion parameters of the previous 30 days to compensate for the spatial reference error.

[0080] In some preferred embodiments, it further includes step S4: calculating the difference between the GNSS satellite orbit determination results of the regional stations before and after correction at the same moment for the same GNSS satellite, obtaining a three-dimensional difference sequence and statistically calculating the RMS value, so as to evaluate the orbit accuracy of the GNSS satellite orbit determination results of the regional stations before and after correction.

[0081] In some preferred embodiments, it further includes step S5: using the GNSS orbit determination results of the IGS global stations and the GNSS satellite orbit determination results of the regional stations before and after correction for precise point positioning (PPP) of ground stations in different regions of the world, and calculating the difference from the precise ground station coordinates to determine the positioning accuracy of the three orbit determination results for precise point positioning in different regions.

[0082] A method for precise GNSS satellite orbit determination under the condition of regional stations proposed in the above embodiments has the following beneficial effects:

[0083] (1) Aiming at the problem that the GNSS satellite orbit determination accuracy is limited under the condition of regional station layout, the present invention considers the combined orbit determination and calculation of a small number of ground stations and a small number of low-earth orbit satellites, and uses the method of combined high, medium, and low satellite orbit determination to make up for the deficiency of the monitoring arc of the regional stations, realizing centimeter-level high-precision orbit determination and greatly improving the GNSS satellite orbit determination accuracy;

[0084] (2) The prior art does not pay attention to the overall constellation rotation effect brought by the inter-satellite observations during the combined orbit determination of high, medium, and low-earth orbit satellites. The present invention focuses on this problem and first proposes the idea of combining spatial reference transformation to analyze this effect, and corrects the spatial reference error brought by the overall rotation effect according to the spatial reference transformation parameters, further improving the regional station orbit determination accuracy;

[0085] (3) Compared with the related prior art methods, the data used in the present invention only includes the GNSS observation data of ground stations and the GNSS observation data of low-earth orbit satellite-borne GNSS. The data types and data preprocessing strategies are basically the same, and only the dynamic orbit determination method is used, and the implementation process is relatively simple and the calculation amount is small.

[0086] (4) The prior art does not consider applying the combined high, medium, and low-earth orbit determination results to the PPP service verification of stations in different regions of the world. The present invention proposes to perform PPP verification on the corrected results.

[0087] The embodiment of the present invention also provides a precise GNSS satellite orbit determination device under the condition of regional stations, including:

[0088] A combined orbit determination module, configured to obtain GNSS observation data of regional ground stations and GNSS observation data of low-earth orbit satellite-borne GNSS, and perform combined orbit determination to obtain a preliminary GNSS satellite orbit determination result of the regional stations;

[0089] A spatial reference transformation parameter solving module, which is used to solve the spatial reference transformation parameters according to the GNSS satellite orbit determination results of the preliminary regional stations and the GNSS satellite orbit determination results solved by the IGS global stations;

[0090] An orbit determination result correction module, which is used to correct the GNSS satellite orbit determination results of the preliminary regional stations on the current day based on the historical spatial reference transformation parameters to obtain the GNSS satellite orbit determination results of the regional stations after compensating for the spatial reference errors.

[0091] It should be understood that the functional unit modules in the various embodiments of the present invention can be concentrated in one processing unit, or each unit module can exist physically alone, or two or more unit modules can be integrated into one unit module, and can be implemented in the form of hardware or software.

[0092] The embodiments of the present invention also provide an electronic device, including:

[0093] A memory, on which a computer program or instruction is stored;

[0094] A processor, which is used to load and execute the computer program or instruction to implement the GNSS satellite precise orbit determination method under the conditions of the regional stations as described above.

[0095] The embodiments of the present invention also provide a computer-readable storage medium, on which a computer program or instruction is stored, and when the computer program or instruction is executed by a processor, the GNSS satellite precise orbit determination method under the conditions of the regional stations as described above is implemented.

[0096] It can be understood that the same or similar parts in the above embodiments can be referred to each other, and the content not described in detail in some embodiments can be seen in the same or similar content in other embodiments.

[0097] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take 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 code.

[0098] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing device produce means for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or means for implementing the functions specified in multiple blocks.

[0099] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including instruction means that implement the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or means for implementing the functions specified in multiple blocks.

[0100] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or means for implementing the functions specified in multiple blocks.

[0101] Although the embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for precise orbit determination of GNSS satellites under the condition of regional stations, characterized in that, The steps include: S1: Acquire GNSS observation data from regional ground stations and GNSS observation data from low-orbit satellites, perform joint orbit determination, and 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: Correcting the preliminary GNSS satellite orbit determination results of the regional stations for the current day based on the historical spatial reference conversion parameters to obtain the GNSS satellite orbit determination results of the regional stations after compensating for the spatial reference error. 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 transformation parameters; ([[]] [[]], , , ) are the satellite coordinates in the GNSS satellite orbit determination results of the preliminary regional station, and ([[]] [[]], , , ) are the GNSS satellite coordinates after being transformed by the spatial reference transformation 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 solved by the IGS global stations of the same GNSS satellite at the same moment; 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; Step S3 specifically includes: Based on the GNSS observation data within a certain historical period, multiple sets of spatial reference conversion parameters are obtained; Performing averaging processing on 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 error.

2. The GNSS satellite precise orbit determination method under the condition of regional stations 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 pseudorange and carrier phase are calculated respectively; The initial orbit parameters of GNSS satellites 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 the condition of regional stations according to claim 1, characterized in that Also includes: S4: The GNSS satellite orbit determination results of the regional stations 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 stations to obtain a three-dimensional difference sequence and calculate the RMS value to achieve orbital accuracy evaluation of the GNSS satellite orbit determination results of the regional stations before and after the correction.

4. The GNSS satellite precise orbit determination method under the condition of regional stations according to claim 1, characterized in that, Also includes: S5: The IGS global station GNSS orbit determination results and the regional station GNSS satellite orbit determination results 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.

5. A GNSS satellite precise orbit determination device under the condition of a regional station, characterized in that, A method for implementing a GNSS satellite precise orbit determination method under regional station conditions as described in any one of claims 1 to 4, comprising: The joint orbit determination module is used to 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. The spatial reference conversion parameter solving module is used to solve the spatial reference conversion parameters based on the preliminary regional station GNSS satellite orbit determination results and the GNSS satellite orbit determination results calculated 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 historical space reference conversion parameters, so as to obtain the regional station GNSS satellite orbit determination result after compensating for the space reference error.

6. An electronic device, characterized in that, It includes: A memory on which computer programs or instructions are stored; A processor for loading and executing the computer programs or instructions to implement the GNSS satellite precise orbit determination method under the conditions of a regional station as described in any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer programs or instructions are executed by the processor, the GNSS satellite precise orbit determination method under the conditions of a regional station as described in any one of claims 1 to 4 is implemented.

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