GNSS (Global Navigation Satellite System)-assisted low-orbit navigation satellite user ranging precision resolving method and related device
By obtaining the pseudorange observations of GNSS satellites and LEO satellites, introducing known errors for linearization and equation solving, the problem of user ranging accuracy in low-orbit navigation systems is solved, and efficient and accurate ranging accuracy resolution under single satellite observation conditions is achieved, enhancing the applicability and reliability of low-orbit navigation systems.
Patent Information
- Application Number
- CN202510539077.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-27
- Publication Date
- 2025-07-18
AI Technical Summary
In the prior art, it is difficult to independently implement the traditional user ranging accuracy solution method that relies on multi-star observation during the construction stage. Due to the coverage range and equipment capabilities of the ground monitoring station, more than 4 LEO satellites cannot be observed simultaneously.
By obtaining the pseudorange observations of GNSS satellites and LEO satellites, introducing preset known errors, performing linearization processing and equation solving, calculating the receiver clock difference and system deviation, and calculating the user distance measurement accuracy of the LEO satellite based on the instantaneous user distance error.
In the case of a ground monitoring station that does not rely on multiple LEO satellites to observe simultaneously, the applicability of the low-rail navigation system and the accuracy and efficiency of the ranging accuracy calculation are improved, and reliable ranging accuracy information is provided, which supports users to better use the low-rail navigation system for positioning and navigation.
Smart Images
Figure CN120334957A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of low-orbit navigation satellites, and particularly relates to a method for calculating the user ranging accuracy of a GNSS-assisted low-orbit navigation satellite and related devices. Background Art
[0002] A low-earth orbit (LEO) satellite refers to a navigation satellite operating in a low-earth orbit, which has the ability to independently provide navigation and positioning services to users; among them, the navigation ephemeris, as the core service basis of LEO satellites, not only accurately describes the orbital parameters and motion states of the satellites, but also needs to clearly provide user range accuracy (URA) information to intuitively reflect the data reliability level of the current navigation ephemeris, so as to help users evaluate the confidence level of positioning results.
[0003] At present, the generation of user range accuracy information usually relies on real-time observation data and is obtained through complex algorithms; however, for a low-orbit navigation system in the construction stage, its ground monitoring stations are limited by the coverage range and equipment capabilities, and it is difficult to observe more than 4 LEO satellites simultaneously, resulting in the difficulty of independently implementing the traditional user range accuracy calculation method that relies on multi-satellite observations. Summary of the Invention
[0004] In view of the technical problems existing in the prior art, the present invention provides a method for calculating the user range accuracy of a GNSS-assisted low-orbit navigation satellite and related devices, so as to solve the technical problem that in a low-orbit navigation system in the construction stage, it is difficult to independently implement the traditional user range accuracy calculation method that relies on multi-satellite observations.
[0005] To achieve the above object, the technical solution adopted by the present invention is as follows: The present invention provides a method for calculating the user range accuracy of a GNSS-assisted low-orbit navigation satellite, including: Obtaining the pseudorange observation values of GNSS satellites and LEO satellites; Respectively introducing preset known errors into the pseudorange observation values of GNSS satellites and LEO satellites to obtain the pseudorange calculated values of GNSS satellites and LEO satellites; Based on the pseudorange calculated values of GNSS satellites and LEO satellites, linearly processing the pre-constructed combined pseudorange observation equation to obtain the linearly processed combined pseudorange observation equation; Solving the linearly processed combined pseudorange observation equation to obtain the receiver clock error and the inter-system bias between the LEO satellite and the GNSS satellite; According to the pre-constructed combined pseudorange observation equation, and in combination with the receiver clock error and the inter-system bias between the LEO satellite and the GNSS satellite, calculating the instantaneous user distance error of the LEO satellite. Based on the instantaneous user range error of the LEO satellite, the solution result of the user ranging accuracy of the LEO satellite is calculated.
[0006] Further, the process of obtaining the pseudorange observations of GNSS satellites and LEO satellites is as follows: Real-time collect the downlink navigation ephemeris and pseudorange observation data broadcast by GNSS satellites and LEO satellites from several preset ground monitoring stations; Based on the downlink navigation ephemeris broadcast by GNSS satellites and LEO satellites, preprocess the pseudorange observation data broadcast by GNSS satellites and LEO satellites respectively to obtain the preprocessed pseudorange observation data of GNSS satellites and LEO satellites as the pseudorange observations of GNSS satellites and LEO satellites.
[0007] Further, the preset known errors include satellite clock errors, tropospheric delay errors, ionospheric delay errors, relativistic effects, and earth rotation errors of GNSS satellites and LEO satellites.
[0008] Further, the pre-constructed combined pseudorange observation equation is as follows:
[0009]
[0010] Among them, is the pseudorange observation of the GNSS satellite; is the geometric distance between the GNSS satellite and the receiver; is the speed of light; is the receiver clock error; is the clock error of the GNSS satellite; is the tropospheric delay error of the GNSS satellite; is the ionospheric delay error of the GNSS satellite; is the relativistic effect of the GNSS satellite; is the instantaneous user range error of the GNSS satellite; is the pseudorange observation of the LEO satellite; is the geometric distance between the LEO satellite and the receiver; is the inter-system bias between the LEO satellite and the GNSS satellite; is the clock error of the LEO satellite; is the tropospheric delay error of the LEO satellite; is the ionospheric delay error of the LEO satellite; is the relativistic effect of the LEO satellite; is the relativistic effect of the LEO satellite; is the instantaneous user range error of the LEO satellite.
[0011] Furthermore, the linearized combined pseudorange observation equation is as follows:
[0012]
[0013] Wherein, is the difference between the pseudorange observation values of GNSS satellites and LEO satellites and the calculated pseudorange values of GNSS satellites and LEO satellites; is the satellite-to-ground observation coefficient matrix of GNSS satellites and LEO satellites; is the set of unknown parameters; is the measurement error; is the observation weight matrix; is the x-axis coordinate error in the receiver position error; is the y-axis coordinate error in the receiver position error; is the z-axis coordinate error in the receiver position error.
[0014] Furthermore, the process of solving the linearized combined pseudorange observation equation to obtain the receiver clock error and the inter-system bias between LEO satellites and GNSS satellites is as follows: Using the least squares method, solve the set of unknown parameters in the linearized combined pseudorange observation equation to obtain the receiver clock error and the inter-system bias between LEO satellites and GNSS satellites.
[0015] Furthermore, the process of calculating the user ranging accuracy solution result of LEO satellites based on the instantaneous user range error of LEO satellites is as follows: Statistically obtain the instantaneous user range errors of LEO satellites at all ground monitoring stations from the instantaneous user range errors of LEO satellites; Calculate the standard deviation of the instantaneous user range errors of LEO satellites at all ground monitoring stations to obtain the user ranging accuracy solution result of LEO satellites.
[0016] The present invention also provides a GNSS-aided low-earth orbit navigation satellite user ranging accuracy solution system, including: An observation value acquisition module for acquiring the pseudorange observation values of GNSS satellites and LEO satellites; A known error introduction module for respectively introducing preset known errors into the pseudorange observation values of GNSS satellites and LEO satellites to obtain the calculated pseudorange values of GNSS satellites and LEO satellites; A linearization module for linearizing the pre-constructed combined pseudorange observation equation based on the calculated pseudorange values of GNSS satellites and LEO satellites to obtain the linearized combined pseudorange observation equation; An unknown error solving module, which is used to solve the linearized combined pseudorange observation equation to obtain the receiver clock error and the inter-system bias between the LEO satellite and the GNSS satellite; An instantaneous user range error solving module, which is used to calculate the instantaneous user range error of the LEO satellite according to the pre-constructed combined pseudorange observation equation and in combination with the receiver clock error and the inter-system bias between the LEO satellite and the GNSS satellite; A solution module, which is used to calculate the solution result of the user ranging accuracy of the LEO satellite based on the instantaneous user range error of the LEO satellite.
[0017] The present invention also provides an electronic device, including: A processor, which is suitable for executing a computer program; A computer-readable storage medium, in which a computer program is stored. When the computer program is executed by the processor, it executes the GNSS-assisted user ranging accuracy solution method for low-Earth orbit navigation satellites.
[0018] The present invention also provides a computer-readable storage medium, which stores a computer program. The computer program is characterized in that when the computer program is executed by a processor, it implements the GNSS-assisted user ranging accuracy solution method for low-Earth orbit navigation satellites.
[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: The GNSS-assisted user ranging accuracy solution method provided by the present invention obtains the pseudorange observation values of the GNSS satellite and the LEO satellite, and after introducing the preset known errors, performs linearization processing and equation solving to obtain the receiver clock error and the inter-system bias; according to the pre-constructed combined pseudorange observation equation, in combination with the receiver clock error and the inter-system bias, calculates the instantaneous user range error of the LEO satellite, and based on the instantaneous user range error, further calculates the solution result of the user ranging accuracy of the LEO satellite; the present invention does not need to rely on the simultaneous observation of multiple LEO satellites by a ground monitoring station, so that the user ranging accuracy can still be solved when the observation ability of the ground monitoring station is insufficient, greatly enhancing the applicability of the low-Earth orbit navigation system in different construction stages and different observation conditions, and having the advantages of simple solution process, high result accuracy and high efficiency; secondly, by comprehensively considering the influence of various error factors on the ranging accuracy, it can accurately reflect the user ranging accuracy of the LEO satellite, provides reliable ranging accuracy information for users, and helps users better use the low-Earth orbit navigation system for positioning and navigation.
[0020] The GNSS-aided user ranging accuracy resolution system, electronic device, computer-readable storage medium, and computer program product provided by the present invention possess all the advantages of the above-mentioned GNSS-aided user ranging accuracy resolution method for low-Earth orbit navigation satellites. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application 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 application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.
[0022] Figure 1 It is a flowchart of the GNSS-aided user ranging accuracy resolution method provided for Embodiment 1; Figure 2 It is a structural block diagram of the GNSS-aided user ranging accuracy resolution system provided for Embodiment 2; Figure 3 It is a structural block diagram of the electronic device provided for Embodiment 3. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0023] In order to make the technical problems, technical solutions, and beneficial effects solved by the present invention clearer, the following specific embodiments are used to further elaborate on the present invention. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.
[0024] The present invention provides a GNSS-aided user ranging accuracy resolution method for low-Earth orbit navigation satellites, including the following steps: Step 100: Obtain the pseudorange observations of GNSS satellites and LEO satellites.
[0025] Step 200: Introduce preset known errors into the pseudorange observations of GNSS satellites and LEO satellites respectively to obtain the pseudorange calculated values of GNSS satellites and LEO satellites.
[0026] Step 300: Based on the pseudorange calculated values of GNSS satellites and LEO satellites, linearize the pre-constructed combined pseudorange observation equation to obtain the linearized combined pseudorange observation equation.
[0027] Step 400: Solve the linearized combined pseudorange observation equation to obtain the receiver clock error and the inter-system bias between the LEO satellite and the GNSS satellite.
[0028] Step 500: Calculate the instantaneous user range error of the LEO satellite according to the pre-constructed combined pseudorange observation equation, in combination with the receiver clock error and the inter-system bias between the LEO satellite and the GNSS satellite.
[0029] Step 600: Calculate the solution result of the user ranging accuracy of the LEO satellite based on the instantaneous user range error of the LEO satellite.
[0030] The method for calculating the user ranging accuracy of a GNSS-aided LEO navigation satellite according to the present invention obtains the pseudorange observation values of the GNSS satellite and the LEO satellite, and uses the obtained pseudorange observation values of the GNSS satellite and the LEO satellite to calculate the user ranging accuracy of the LEO satellite, without relying on the simultaneous observation of multiple LEO satellites by a ground monitoring station; by introducing a preset known error, it is equivalent to simulating and compensating the preset known error during the calculation process, making the linearization process and equation solving based on the pseudorange calculated value closer to the real situation, helping to reduce the calculation deviation caused by error factors, and improving the accuracy of the receiver clock error, the inter-system bias, and the solution result of the user ranging accuracy; based on the pseudorange calculated values of the GNSS satellite and the LEO satellite, linearize the pre-constructed combined pseudorange observation equation, and solve the linearized combined pseudorange observation equation, which greatly reduces the calculation difficulty and improves the calculation efficiency, enabling the receiver clock error and the inter-system bias between the LEO satellite and the GNSS satellite to be obtained quickly and efficiently in practical applications; calculate the solution result of the user ranging accuracy of the LEO satellite based on the instantaneous user range error of the LEO satellite, which can accurately reflect the user ranging accuracy of the LEO satellite, provide reliable ranging accuracy information for the users of the LEO navigation system, help users better utilize the LEO navigation system for positioning and navigation, and improve the practicability and reliability of the LEO navigation system.
[0031] The following uses some specific embodiments to further explain the method for calculating the user ranging accuracy of a GNSS-aided LEO navigation satellite provided by the present invention: Embodiment 1 As shown in the appendix Figure 1 This Embodiment 1 provides a method for calculating the user ranging accuracy of a GNSS-aided LEO navigation satellite, including the following steps: Step 1: Obtain the pseudorange observation values of the GNSS satellite and the LEO satellite. Specifically, the process of obtaining the pseudorange observation values of the GNSS satellite and the LEO satellite includes: Step 11: Real-time collect the downlink navigation ephemeris and pseudorange observation data broadcast by the GNSS satellite from several preset ground monitoring stations; real-time collect the downlink navigation ephemeris and pseudorange observation data broadcast by the LEO satellite from several preset ground monitoring stations.
[0032] Step 12: Based on the downlink navigation ephemeris broadcast by GNSS satellites, preprocess the pseudorange observation data broadcast by GNSS satellites to obtain the preprocessed pseudorange observation data of GNSS satellites as the pseudorange observations of GNSS satellites; based on the downlink navigation ephemeris broadcast by LEO satellites, preprocess the pseudorange observation data broadcast by LEO satellites to obtain the preprocessed pseudorange observation data of LEO satellites as the pseudorange observations of LEO satellites.
[0033] Specifically, during the preprocessing of the pseudorange observation data broadcast by GNSS satellites and the preprocessing of the pseudorange observation data broadcast by LEO satellites, the pseudorange observation data broadcast by GNSS satellites or LEO satellites without downlink navigation ephemeris or with incomplete pseudorange observation data are excluded.
[0034] Step 2: Ignore the observation noise of the preset ground monitoring stations, establish a combined pseudorange observation equation for GNSS satellites and LEO satellites, and obtain a pre-constructed combined pseudorange observation equation. Among them, the pre-constructed combined pseudorange observation equation is as follows:
[0035]
[0036] Among them, is the pseudorange observation of GNSS satellites; is the geometric distance between the GNSS satellite and the receiver; is the speed of light; is the receiver clock error; is the clock error of the GNSS satellite; is the tropospheric delay error of the GNSS satellite; is the ionospheric delay error of the GNSS satellite; is the relativistic effect of the GNSS satellite; is the instantaneous user range error of the GNSS satellite; is the pseudorange observation of LEO satellites; is the geometric distance between the LEO satellite and the receiver; is the inter-system bias between the LEO satellite and the GNSS satellite; is the clock error of the LEO satellite; is the tropospheric delay error of the LEO satellite; is the ionospheric delay error of the LEO satellite; is the relativistic effect of the LEO satellite; is the relativistic effect of the LEO satellite; is the instantaneous user range error of the LEO satellite.
[0037] Step 3: Introduce preset known errors to the pseudorange observations of GNSS satellites and LEO satellites respectively to obtain the pseudorange calculation values of GNSS satellites and LEO satellites. Among them, the preset known errors include satellite clock errors, tropospheric delay errors, ionospheric delay errors, relativistic effects, and earth rotation errors of GNSS satellites and LEO satellites.
[0038] The process of introducing preset known errors to the pseudorange observations of GNSS satellites and LEO satellites respectively includes: In the GNSS satellite pseudorange observations, add the satellite clock error, tropospheric delay error, ionospheric delay error, relativistic effect, and earth rotation error of the GNSS satellite to obtain the pseudorange calculation value of the GNSS satellite; in the LEO satellite pseudorange observations, add the satellite clock error, tropospheric delay error, ionospheric delay error, relativistic effect, and earth rotation error of the LEO satellite to obtain the pseudorange calculation value of the LEO satellite.
[0039] Step 4: Based on the pseudorange calculation values of GNSS satellites and LEO satellites, perform linearization processing on the pre-constructed combined pseudorange observation equation to obtain the linearized combined pseudorange observation equation. Among them, the linearized combined pseudorange observation equation is as follows:
[0040]
[0041] Among them, is the difference between the pseudorange observations of GNSS satellites and LEO satellites and the pseudorange calculation values of GNSS satellites and LEO satellites; is the satellite-earth observation coefficient matrix of GNSS satellites and LEO satellites; is the set of unknown parameters; is the measurement error; is the observation weight matrix; is the x-axis coordinate error in the receiver position error; is the y-axis coordinate error in the receiver position error; is the z-axis coordinate error in the receiver position error.
[0042] Step 5: Solve the linearized combined pseudorange observation equation to obtain the receiver clock error and the inter-system bias between LEO satellites and GNSS satellites.
[0043] Specifically, use the least squares method to solve the set of unknown parameters in the linearized combined pseudorange observation equation to obtain the receiver clock error and the inter-system bias between LEO satellites and GNSS satellites; among them, the process of solving the set of unknown parameters in the linearized combined pseudorange observation equation is as follows:
[0044] Among them, is the transposed matrix of the satellite-ground observation coefficient matrix of GNSS satellites and LEO satellites.
[0045] It should be noted that the set of unknown parameters in the linearized combined pseudorange observation equation includes receiver position error, receiver clock error, and inter-system bias between LEO satellites and GNSS satellites; among them, the receiver position error includes the x-axis coordinate error in the receiver position error and the y-axis coordinate error in the receiver position error and is the z-axis coordinate error in the receiver position error.
[0046] Step 6: According to the pre-constructed combined pseudorange observation equation, and in combination with the receiver clock error and the inter-system bias between LEO satellites and GNSS satellites, calculate the instantaneous user range error of the LEO satellite.
[0047] Specifically, substitute the receiver clock error and the inter-system bias between LEO satellites and GNSS satellites into the combined pseudorange observation equation, solve the instantaneous user range error of the LEO satellite at a single epoch of the ground monitoring station, and obtain the instantaneous user range error of the LEO satellite; among them, the calculation process of the instantaneous user range error of the LEO satellite is as follows:
[0048] Among them, is the instantaneous user range error of the LEO satellite.
[0049] Step 7: Based on the instantaneous user range error of the LEO satellite, calculate the user ranging accuracy solution result of the LEO satellite. The process of calculating the user ranging accuracy solution result of the LEO satellite includes the following steps: Step 71: From the instantaneous user range errors of the LEO satellite, statistically analyze the instantaneous user range errors of all ground monitoring stations at the same moment to obtain the instantaneous user range error of the LEO satellite at all ground monitoring stations.
[0050] Step 72: Calculate the standard deviation of the instantaneous user range errors of the LEO satellite at all ground monitoring stations to obtain the user ranging accuracy of the LEO satellite at the current epoch, which is used as the user ranging accuracy solution result of the LEO satellite; among them, the calculation formula for the user ranging accuracy solution result of the LEO satellite is as follows:
[0051] Among them, is the user ranging accuracy solution result of the LEO satellite; The instantaneous user range error of the LEO satellite at the th ground monitoring station, where is the number of the ground monitoring station; is the standard deviation.
[0052] The GNSS-aided LEO navigation satellite user ranging accuracy resolution method described in Embodiment 1 of the present invention obtains the pseudorange observations of GNSS satellites and LEO satellites. Without relying on the simultaneous observations of multiple LEO satellites by ground monitoring stations, it enables the resolution of user ranging accuracy even when the observation capabilities of ground monitoring stations are insufficient, greatly enhancing the applicability of the LEO navigation system under different construction stages and different observation conditions; by introducing preset errors, it can more accurately calculate the receiver clock error and the inter-system bias between LEO satellites and GNSS satellites, effectively improving the accuracy of the entire resolution process and providing more reliable position information for users; linearizing the pre-constructed combined pseudorange observation equation and then using simple linear algebra methods for solution greatly reduces the calculation difficulty and improves the calculation efficiency; based on the instantaneous user range error, further calculates the user ranging accuracy resolution result of the LEO satellite, providing reliable ranging accuracy information for users and helping users better utilize the LEO navigation system for positioning and navigation.
[0053] Embodiment 2 As shown in the appendix Figure 2 A GNSS-aided LEO navigation satellite user ranging accuracy resolution system provided in Embodiment 2 of the present invention includes an observation value acquisition module, a known error introduction module, a linearization module, an unknown error solution module, an instantaneous user range error solution module, and a resolution module.
[0054] The observation value acquisition module is used to obtain the pseudorange observations of GNSS satellites and LEO satellites; the known error introduction module is used to introduce preset known errors to the pseudorange observations of GNSS satellites and LEO satellites respectively to obtain the pseudorange calculated values of GNSS satellites and LEO satellites; the linearization module is used to linearize the pre-constructed combined pseudorange observation equation based on the pseudorange calculated values of GNSS satellites and LEO satellites to obtain the linearized combined pseudorange observation equation; the unknown error solution module is used to solve the linearized combined pseudorange observation equation to obtain the receiver clock error and the inter-system bias between LEO satellites and GNSS satellites; the instantaneous user range error solution module is used to calculate the instantaneous user range error of the LEO satellite according to the pre-constructed combined pseudorange observation equation and in combination with the receiver clock error and the inter-system bias between LEO satellites and GNSS satellites; the resolution module is used to calculate the user ranging accuracy resolution result of the LEO satellite based on the instantaneous user range error of the LEO satellite.
[0055] Optionally, the GNSS-aided LEO navigation satellite user ranging accuracy calculation system described in Embodiment 2 further includes a combined equation construction module; the combined equation construction module is used to ignore the observation noise of a preset ground monitoring station, establish a pseudorange observation equation for the combination of GNSS satellites and LEO satellites, and obtain a pre-constructed combined pseudorange observation equation.
[0056] Embodiment 3 As shown in the appendix Figure 3 As shown in the figure, Embodiment 3 provides an electronic device, including: a memory for storing a computer program; a processor for implementing the steps of the GNSS-aided LEO navigation satellite user ranging accuracy calculation method when executing the computer program; or, the processor implements the functions of each module in the above-mentioned GNSS-aided LEO navigation satellite user ranging accuracy calculation system when executing the computer program.
[0057] Exemplarily, the computer program can be divided into one or more modules / units, and the one or more modules / units are stored in the memory and executed by the processor to complete the present invention. The one or more modules / units can be a series of computer program instruction segments capable of completing preset functions, and the instruction segments are used to describe the execution process of the computer program in the electronic device.
[0058] The electronic device can be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The electronic device may include, but is not limited to, a processor and a memory. Those skilled in the art can understand that the above are examples of the electronic device and do not constitute a limitation on the electronic device. It may include more components than the above, or combine some components, or different components. For example, the electronic device may further include an input / output device, a network access device, a bus, etc.
[0059] The so-called processor may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or the processor may also be any conventional processor, etc. The processor is the control center of the electronic device and connects various parts of the entire electronic device through various interfaces and lines.
[0060] The memory can be used to store the computer program and / or module. By running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory, the processor realizes various functions of the electronic device.
[0061] The memory may mainly include a program storage area and a data storage area. Among them, the program storage area can store the operating system, application programs required for at least one function (such as the sound playback function, the image playback function, etc.); the data storage area can store the data created according to the use of the mobile phone (such as audio data, phone book, etc.). In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.
[0062] Embodiment 4 Embodiment 4 of the present invention also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of a method for resolving the user ranging accuracy of a GNSS-aided low-earth orbit navigation satellite are implemented.
[0063] If the modules / units integrated in the GNSS-aided low-earth orbit navigation satellite user ranging accuracy resolution system are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium.
[0064] Based on such an understanding, to implement all or part of the processes in the above-mentioned method for resolving the user ranging accuracy of a GNSS-aided low-earth orbit navigation satellite, the present invention can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-mentioned method for resolving the user ranging accuracy of a GNSS-aided low-earth orbit navigation satellite can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or a preset intermediate form, etc.
[0065] The computer-readable storage medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disc, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.
[0066] It should be noted that those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods.
[0067] The GNSS-aided low-Earth orbit navigation satellite user ranging accuracy calculation method of the present invention does not need to rely on the simultaneous observation of multiple LEO satellites by ground monitoring stations. By introducing preset known errors and simulating and compensating actual error factors, the calculation is closer to the real situation; through linearization processing of the combined pseudorange observation equation, the calculation difficulty is reduced and the efficiency is improved; by accurately solving the receiver clock error and the inter-system bias, and then calculating the instantaneous user range error, and finally obtaining an accurate user ranging accuracy calculation result, effectively solving the problem of GNSS-aided low-Earth orbit navigation satellite user ranging accuracy calculation, and providing strong support for the development of low-Earth orbit navigation systems.
[0068] The above embodiments are only one of the implementation manners capable of implementing the technical solution of the present invention. The scope of protection required by the present invention is not only limited by this embodiment, but also includes any changes, substitutions and other implementation manners that are easily conceivable by those skilled in the art within the technical scope disclosed by the present invention.
Claims
1. A method for solving the user ranging accuracy of a GNSS-aided low-earth orbit navigation satellite, characterized in that Including: Obtain the pseudorange observations of GNSS satellites and LEO satellites; Respectively introduce a preset known error to the pseudorange observations of GNSS satellites and LEO satellites to obtain the pseudorange calculation values of GNSS satellites and LEO satellites; Based on the pseudorange calculation values of GNSS satellites and LEO satellites, linearize the pre-constructed combined pseudorange observation equation to obtain the linearized combined pseudorange observation equation; Solve the linearized combined pseudorange observation equation to obtain the receiver clock error and the inter-system bias between LEO satellites and GNSS satellites; According to the pre-constructed combined pseudorange observation equation, and in combination with the receiver clock error and the inter-system bias between LEO satellites and GNSS satellites, calculate the instantaneous user range error of the LEO satellite; Based on the instantaneous user range error of the LEO satellite, calculate the solution result of the user ranging accuracy of the LEO satellite.
2. The GNSS-aided ranging accuracy resolution method for low-earth orbit navigation satellites according to claim 1, wherein The process of obtaining the pseudorange observations of GNSS satellites and LEO satellites is as follows: Real-time collect the downlink navigation ephemeris and pseudorange observation data broadcast by GNSS satellites and LEO satellites from several preset ground monitoring stations; Based on the downlink navigation ephemeris broadcast by GNSS satellites and LEO satellites, preprocess the pseudorange observation data broadcast by GNSS satellites and LEO satellites respectively to obtain the preprocessed pseudorange observation data of GNSS satellites and LEO satellites as the pseudorange observations of GNSS satellites and LEO satellites.
3. A method for calculating the user ranging accuracy of a GNSS-aided low-earth orbit navigation satellite, as described in claim 1, wherein The preset known errors include satellite clock errors, tropospheric delay errors, ionospheric delay errors, relativistic effects, and earth rotation errors of GNSS satellites and LEO satellites.
4. A method for calculating the user ranging accuracy of a GNSS-aided low-earth orbit navigation satellite, according to claim 1, characterized in that The pre-constructed combined pseudorange observation equation is as follows: Wherein, is the pseudorange observation value of the GNSS satellite; is the geometric distance between the GNSS satellite and the receiver; is the speed of light; is the receiver clock error; is the clock error of the GNSS satellite; is the tropospheric delay error of the GNSS satellite; is the ionospheric delay error of the GNSS satellite; is the relativistic effect of the GNSS satellite; is the instantaneous user range error of the GNSS satellite; is the pseudorange observation value of the LEO satellite; is the geometric distance between the LEO satellite and the receiver; is the inter-system bias between the LEO satellite and the GNSS satellite; is the clock error of the LEO satellite; is the tropospheric delay error of the LEO satellite; is the ionospheric delay error of the LEO satellite; is the relativistic effect of the LEO satellite; is the relativistic effect of the LEO satellite; is the instantaneous user range error of the LEO satellite.
5. A method for resolving the user ranging accuracy of a GNSS-aided low-earth orbit navigation satellite, as described in claim 4, wherein The linearized combined pseudorange observation equation is as follows: wherein, is the difference between the pseudorange observation values of GNSS satellites and LEO satellites and the calculated pseudorange values of GNSS satellites and LEO satellites; is the satellite-ground observation coefficient matrix of GNSS satellites and LEO satellites; is the set of unknown parameters; is the measurement error; is the observation weight matrix; is the x-axis coordinate error in the receiver position error; is the y-axis coordinate error in the receiver position error; is the z-axis coordinate error in the receiver position error.
6. The GNSS-aided ranging accuracy resolution method for low-earth orbit navigation satellites according to claim 5, characterized in that, The process of solving the linearized combined pseudorange observation equation to obtain the receiver clock error and the inter-system bias between LEO satellites and GNSS satellites is as follows: Use the least squares method to solve the set of unknown parameters in the linearized combined pseudorange observation equation to obtain the receiver clock error and the inter-system bias between LEO satellites and GNSS satellites.
7. A method for calculating the user ranging accuracy of a GNSS-aided low-earth orbit navigation satellite, according to claim 1, characterized in that The process of calculating the solution result of the user ranging accuracy of the LEO satellite based on the instantaneous user range error of the LEO satellite is as follows: Statistically obtain the instantaneous user range error of the LEO satellite at all ground monitoring stations from the instantaneous user range error of the LEO satellite; Calculate the standard deviation of the instantaneous user range error of the LEO satellite at all ground monitoring stations to obtain the solution result of the user ranging accuracy of the LEO satellite.
8. A GNSS-aided user ranging accuracy calculation system for low-earth orbit navigation satellites, characterized in that, Including: An observation value acquisition module for obtaining the pseudorange observations of GNSS satellites and LEO satellites; A known error introduction module for respectively introducing a preset known error to the pseudorange observations of GNSS satellites and LEO satellites to obtain the pseudorange calculation values of GNSS satellites and LEO satellites; A linearization module for linearizing the pre-constructed combined pseudorange observation equation based on the pseudorange calculation values of GNSS satellites and LEO satellites to obtain the linearized combined pseudorange observation equation; An unknown error solving module, which is used to solve the linearized combined pseudorange observation equation to obtain the receiver clock error and the inter-system bias between LEO satellites and GNSS satellites; An instantaneous user range error solving module, which is used to calculate the instantaneous user range error of the LEO satellite according to the pre-constructed combined pseudorange observation equation, in combination with the receiver clock error and the inter-system bias between the LEO satellite and the GNSS satellite; A solution module, which is used to calculate the solution result of the user ranging accuracy of the LEO satellite based on the instantaneous user range error of the LEO satellite.
9. An electronic device, characterized in that, It includes: A processor, suitable for executing a computer program; A computer-readable storage medium, in which a computer program is stored. When the computer program is executed by the processor, it executes the GNSS-assisted user ranging accuracy solution method for low-earth orbit navigation satellites according to any one of claims 1-7.
10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the GNSS-assisted user ranging accuracy solution method for low-earth orbit navigation satellites according to any one of claims 1-7.