CN105158781A - Method for realizing outer space use positioning by earth GNSS satellites - Google Patents

Method for realizing outer space use positioning by earth GNSS satellites Download PDF

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Publication number
CN105158781A
CN105158781A CN201510455597.3A CN201510455597A CN105158781A CN 105158781 A CN105158781 A CN 105158781A CN 201510455597 A CN201510455597 A CN 201510455597A CN 105158781 A CN105158781 A CN 105158781A
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user
time
satellite
gnss
gnss satellite
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孙国良
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Beihang University
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Beihang University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a method for realizing outer space user positioning by earth GNSS satellites. The method includes: measuring time difference information of transmission of a signal between GNSS satellites and a user under the condition that a time device of an outer space user is kept synchronous with GNSS satellite system time; obtaining information of distance between the GNSS satellites and the user through the time difference information; and obtaining position coordinates of the user according to the distance information. The method provided by the invention eliminates time difference of the satellites and the user by using the time device of the user, thereby improving positioning accuracy of the user.

Description

A kind of earth GNSS satellite realizes the method for outer space user location
Technical field
The invention belongs to technical field of satellite, particularly relate to a kind of method that earth GNSS satellite realizes outer space user location.
Background technology
The full name of GNSS (GlobalNavigationSatelliteSystem) is GLONASS (Global Navigation Satellite System), it makes a general reference all satellite navigation systems, comprise the whole world, region with strengthen, as the Galileo (Galileo) in the GPS of the U.S., Muscovite GLONASS (Glonass), Europe, the Beidou satellite navigation system of China, and relevant enhancing system.
Current GNSS system adopts the time to arrive the pseudorange location method measured.The pseudorange that the travel-time that the clock measurement GNSS satellite that user utilizes oneself to carry transmits obtains is as follows:
ρ = c · ( t u r - t s s ) = r + c · ( t u - t s ) = ( x u - x s ) 2 + ( y u - y s ) 2 + ( z u - z s ) 2 + c · Δt s u
In formula:
C is the light velocity;
T urfor reading on oneself clock when user receives navigation station signal;
T ssfor the GNSS system moment marked when satellite sends signal, usually broadcast in navigation message;
Δ t sufor during GNSS satellite system and the error of clock entrained by user;
R is the actual distance between satellite and user;
T ufor the time that user time device provides;
T sfor the time that clock entrained on satellite provides;
(x u, y u, z u) be the three-dimensional location coordinates of user;
(x s, y s, z s) three-dimensional location coordinates of user that records for satellite;
ρ is pseudorange, as the term suggests refer to fict distance, actual middle finger user Received signal strength time and the navigation station send the mistiming between signal, represent the time reduced quantity comprising actual distance and two places clock correction etc.Its implication promoted also comprises electric wave and obtain other errors in propagation and measuring process.
Resolve while just can realizing the information such as customer location, speed and clock correction by the pseudo-distance measuring more than four GNSS satellite, its positioning equation is as follows:
ρ 1 = ( x - x s 1 ) 2 + ( y - y s 1 ) 2 + ( z - z s 1 ) 2 + Δ t ρ 2 = ( x - x s 2 ) 2 + ( y - y s 2 ) 2 + ( z - z s 2 ) 2 + Δ t ρ 3 = ( x - x s 3 ) 2 + ( y - y s 3 ) 2 + ( z - z s 3 ) 2 + Δ t ρ 4 = ( x - x s 4 ) 2 + ( y - y s 4 ) 2 + ( z - z s 4 ) 2 + Δ t
Wherein, (x, y, z) actual position coordinate that is user; (x s1, y s1, z s1) be the user coordinates that first GNSS satellite records; In like manner, (x s2, y s2, z s2), (x s3, y s3, z s3) and (x s4, y s4, z s4) be the three-dimensional location coordinates of second, the 3rd and the 4th GNSS satellite respectively.
GNSS system is for earth surface user design, and its launching beam is also towards the earth.Current GNSS is widely used in the fields such as economic national defence such as vehicle-mounted, airborne, also has the location utilizing GNSS to realize the low middle rail satellite of the earth recently.But GNSS is used for high rail satnav or the moon, Mars etc. locate existing defects more at a distance, mainly contains the deficiency of following three aspects:
1), remote time GNSS satellite extremely weak, common receiver cannot realize reception and the measurement of signal;
2), satellite main beam signal blocked by the earth, receives number of satellite less in remote subscribers such as high rail and moonscapes;
3), the pseudorange location method of GNSS geometric dilution of precision (GDOP) when distant is comparatively large, and positioning error is comparatively large, is difficult to the demand meeting hi-Fix.
Wherein, front 1) and 2) although two deficiencies limit the location of GNSS at overlength distance to a certain extent, but along with the development of Signal reception treatment technology, signal receiving sensitivity constantly promotes, current business receiver improves about 20db compared with the minimum requirements of system, believe in the near future, the remote subscribers such as high rail and moonscape can realize the reception of GNSS signal.In addition, along with the GNSS (GPS, GLONASS, Galileo, the Big Dipper etc.) of countries in the world and the construction of enhancing system thereof, the visible GNSS satellite number of the remote subscribers such as high rail and the moon also will greatly improve.
Even if front 1) and 2) bottleneck solve after, the 3rd not enough restriction still makes current GNSS pseudorange location method cannot be applied to the hi-Fix of the remote subscribers such as high rail and the moon.Computer data simulation analysis shows that moonscape GNSS geometric dilution of precision is substantially more than 50 times, and namely the pseudorange error of 10 meters will cause the actual location error of more than 500 meters, and this kind of positioning precision will can not put up with.
Summary of the invention
In view of this, embodiments provide a kind of method that earth GNSS satellite realizes outer space user location, the technical matterss such as existing GNSS overlength distance positioning precision is low can be solved.
The technical scheme of the embodiment of the present invention is achieved in that
Embodiments provide a kind of method that earth GNSS satellite realizes outer space user location, described method comprises:
The time device of outer space user and the time difference information keeping measuring-signal under synchronous condition to propagate between described GNSS satellite and described user during GNSS satellite system;
The range information between described GNSS satellite and described user is obtained by described time difference information;
The position coordinates of described user is obtained according to described range information.
In such scheme, described to described time device and described GNSS satellite carry out time synchronized operation comprise:
Be the identical time by the time of described time device with the time unification of described GNSS satellite, or determine the time difference between the time of described time device and the time of described GNSS satellite and frequency difference.
In such scheme, described time device includes but not limited to high precision atomic clock.
In such scheme, the quantity of described GNSS satellite is no less than three.
In such scheme, the accounting equation of described position coordinates is:
ρ 1 = ( x u - x s 1 ) 2 + ( y u - y s 1 ) 2 + ( z u - z s 1 ) 2 ρ 2 = ( x u - x s 2 ) 2 + ( y u - y s 2 ) 2 + ( z u - z s 2 ) 2 ρ 3 = ( x u - x s 3 ) 2 + ( y u - y s 3 ) 2 + ( z u - z s 3 ) 2 . . . ρ m = ( x u - x s m ) 2 + ( y u - y s m ) 2 + ( z u - z s m ) 2
Wherein, ρ i(i=1,2,3...m) is the distance value between i-th described GNSS satellite and user; (x si, y si, z si) be the three-dimensional location coordinates of i-th described GNSS satellite; (x u, y u, z u) be user's three-dimensional location coordinates to be asked.
In such scheme, the described range information obtained between described GNSS satellite and described user by described time difference information is also comprised:
For described user sets up pseudo satellite, pseudolite, and measure the range information of described user by described pseudo satellite, pseudolite.
What the embodiment of the present invention provided utilizes GNSS to realize the localization method of overlength distance user, the time device of outer space user with keep synchronous condition during GNSS satellite system under, by the physical distance between time difference measurements user and GNSS satellite, eliminate the clock correction in pseudorange, improve user's positioning precision.
Accompanying drawing explanation
Fig. 1 is the process flow diagram that the earth GNSS satellite of embodiment 1 realizes the method for outer space user location;
Fig. 2 is the GNSS visible satellite number of different localization method near moon Sinus Medii;
Fig. 3 is the GNSS geometric dilution of precision of different localization method near moon Sinus Medii.
Embodiment
In the following description, by description multiple different aspect of the present invention, but, for those skilled in the art, can only utilize some or all structure of the present invention or flow process to implement the present invention.In order to the definition explained, set forth specific number, configuration and order, but clearly, also can implement the present invention when there is no these specific detail.In other cases, in order to not obscure the present invention, will no longer be described in detail for some well-known features.
Embodiment 1
In order to solve the technical matterss such as existing GNSS overlength distance positioning precision is low, embodiments provide a kind of method that earth GNSS satellite realizes outer space user location, as shown in Figure 1, the present embodiment said method comprising the steps of:
Step S101: the time device of outer space user and the time difference information keeping measuring-signal under synchronous condition to propagate between described GNSS satellite and described user during GNSS satellite system; Wherein, refer to during GNSS satellite system that all satellites of GNSS system all unify atomic time system that is synchronous and that safeguard.
The synchronous calibration during system of the present embodiment method by time device and GNSS satellite, eliminates the clock correction unknown quantity in existing GNSS pseudorange.Time device can be through the atomic clock of synchronous calibration or other can with the time device keeping high-precise synchronization during GNSS system.
Step S102: measure the mistiming that described GNSS satellite signal propagates between GNSS satellite and described user by described time device, thus obtain the range information between GNSS satellite and described user;
Usually, in order to ensure the positioning precision to user, need multi-satellite to measure the distance with user simultaneously.Step S103: the position coordinates obtaining described user according to described range information.
The present embodiment method, on the basis that described user time device is synchronous with during GNSS satellite system, eliminates the clock correction unknown quantity in pseudorange, pseudorange location is converted to Distance positioning, improves positioning precision.
Concrete, also comprised before described step S101: synchronous operation is carried out to described time device and described GNSS satellite; Wherein, synchronous operation is kept time after including but not limited to the calibration of high precision atomic clock, is compared counterpart method with GNSS satellite or land station's real-time time; The punctual state referring to the retention time.Be specially: be the identical time by the time of described time device with the time unification of described GNSS satellite, or determine the mistiming between the time of described time device and the time of described GNSS satellite and frequency difference.
Usual locating information needs three coordinate figures obtaining space, and existing GNSS satellite location, due to the existence of pseudorange, except positioning precision is low, also needs four satellites to position.And the present embodiment method is owing to eliminating the mistiming, so accurately location just can be realized by being no less than three satellites.Correspondingly, the accounting equation of the position coordinates of the present embodiment method user is:
ρ 1 = ( x u - x s 1 ) 2 + ( y u - y s 1 ) 2 + ( z u - z s 1 ) 2 ρ 2 = ( x u - x s 2 ) 2 + ( y u - y s 2 ) 2 + ( z u - z s 2 ) 2 ρ 3 = ( x u - x s 3 ) 2 + ( y u - y s 3 ) 2 + ( z u - z s 3 ) 2 . . . ρ m = ( x u - x s m ) 2 + ( y u - y s m ) 2 + ( z u - z s m ) 2
Wherein, ρ i(i=1,2,3...m) is the distance value between i-th described GNSS satellite and user; (x si, y si, z si) be i-th described GNSS satellite three-dimensional location coordinates; (x u, y u, z u) be user's three-dimensional location coordinates to be asked.
Above-mentioned description is the situation that GNSS satellite is positioned at Earth's orbit, in order to improve positioning precision further, can also set up pseudo satellite, pseudolite near user position, can obtain higher positioning precision by the auxiliary of pseudo satellite, pseudolite.Therefore, the range information between the described GNSS satellite recorded by described time device of step S102 and described user is also comprised: for described user arranges pseudo satellite, pseudolite, and measure the range information of described user by described pseudo satellite, pseudolite.
The present embodiment in the larger problem of the positioning error of the overlength distance users such as high rail, the moon, adopts improve for the existing system of GNSS at following 2:
1) utilize high precision clock to assist and existing GNSS pseudorange location method is transformed into Distance positioning system, thus improve positioning precision.High precision clock can be the atomic clock that user carries, and also can through the high precision clock device of other technologies method calibration, thus make user clock can ignore with GNSS system clock correction or keep synchronous; Now the GNSS satellite signal propagation time difference of user and Satellite observation will represent real transmission distance.Utilize high precision clock to assist and existing GNSS pseudorange location method is transformed into Distance positioning system, thus improve positioning precision.
2) by setting up the pseudo satellite, pseudolite imitating ground G NSS at moonscape, the geometric dilution of precision of moonscape is greatly improved.If the circumlunar satellite that so-called pseudo satellite, pseudolite is not necessarily real, GNSS signal transmitter on lunar surface lander can be mounted in, also can be mounted on LOS lunar obriting satellite, determine depending on concrete application scenario.By setting up the pseudo satellite, pseudolite imitating ground G NSS at moonscape, significantly improve the geometric dilution of precision of moonscape.
Below existing GNSS localization method and localization method of the present invention are carried out contrast to describe.GNSS visible satellite number near the moon Sinus Medii that existing GNSS localization method and localization method of the present invention find as shown in Figure 2.As can be seen from Figure 2, the GNSS visible satellite number of localization method discovery of the present invention is obviously more than the satellite number that existing GNSS localization method finds.
Actual mechanical process of the present invention can adopt following three kinds of forms to position:
1) the GNSS Distance positioning method adopting high precision clock auxiliary
Utilize the lunar surface central authorities lake geometric dilution of precision of Computer Simulation GNSS Distance positioning method as shown in Figure 3.
2), under existing GNSS pseudorange location method, lunar surface pseudo satellite, pseudolite mode is set up:
A lunar surface pseudo satellite, pseudolite is set near lunar surface central authorities lake northeastward, now utilizes geometric dilution of precision that existing GNSS pseudorange location simulation obtains as shown in Figure 3.
3) GNSS Distance positioning method, sets up lunar surface pseudo satellite, pseudolite simultaneously.
Adopt GNSS Distance positioning method and set up simultaneously lunar surface pseudo satellite, pseudolite auxiliary under, lunar surface central authorities lake geometric dilution of precision is as shown in Figure 3.
Existing GNSS pseudorange locating effect curve, pseudolite positioning effect curve, locating effect curve of the present invention and localization method of the present invention are increased the locating effect curve after pseudo satellite, pseudolite as shown in Figure 3; Can find out, the locating effect of the inventive method is obviously better than existing GNSS pseudorange locating effect; After in conjunction with pseudo satellite, pseudolite, locating effect is better.
From simulation result, when being combined with high precision clock two schemes by pseudo satellite, pseudolite, geometric dilution of precision drops to about 2 further, in mean value and stability two, all had again larger lifting compared with first two scheme.Similar with the positioning precision of earth surface user, the position application demand of lunar surface degree of precision can be met.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; change can be expected easily or replace, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of described claim.

Claims (6)

1. earth GNSS satellite realizes a method for outer space user location, and it is characterized in that, described method comprises:
The time device of outer space user and the time difference information keeping measuring-signal under synchronous condition to propagate between described GNSS satellite and described user during GNSS satellite system;
The range information between described GNSS satellite and described user is obtained by described time difference information;
The position coordinates of described user is obtained according to described range information.
2. method according to claim 1, is characterized in that, described to described time device and described GNSS satellite carry out time synchronized operation comprise:
Be the identical time by the time of described time device with the time unification of described GNSS satellite, or determine the time difference between the time of described time device and the time of described GNSS satellite and frequency difference.
3. method according to claim 1, is characterized in that, described time device includes but not limited to high precision atomic clock.
4. method according to claim 1, is characterized in that, the quantity of described GNSS satellite is no less than three.
5. method according to claim 1, is characterized in that, the accounting equation of described position coordinates is:
ρ 1 = ( x u - x s 1 ) 2 + ( y u - y s 1 ) 2 + ( z u - z s 1 ) 2 ρ 2 = ( x u - x s 2 ) 2 + ( y u - y s 2 ) 2 + ( z u - z s 2 ) 2 ρ 3 = ( x u - x s 3 ) 2 + ( y u - y s 3 ) 2 + ( z u - z s 3 ) 2 . . . ρ m = ( x u - x s m ) 2 + ( y u - y s m ) 2 + ( z u - z s m ) 2
Wherein, ρ i(i=1,2,3...m) is the distance value between i-th described GNSS satellite and user; (x si, y si, z si) be the three-dimensional location coordinates of i-th described GNSS satellite; (x u, y u, z u) be user's three-dimensional location coordinates to be asked.
6. method according to claim 1, is characterized in that, the described range information obtained between described GNSS satellite and described user by described time difference information is also comprised:
For described user sets up pseudo satellite, pseudolite, and measure the range information of described user by described pseudo satellite, pseudolite.
CN201510455597.3A 2015-07-29 2015-07-29 Method for realizing outer space use positioning by earth GNSS satellites Pending CN105158781A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106595667A (en) * 2016-12-07 2017-04-26 中国电子科技集团公司第五十四研究所 Mutual synchronization-based indoor pseudolite double-point positioning system and method
CN108957501A (en) * 2018-06-04 2018-12-07 北京因子图导航技术有限公司 A kind of ground base navigation localization method and system that digital ground multimedia broadcast is synchronous
CN110986964A (en) * 2019-12-26 2020-04-10 西安空间无线电技术研究所 Moon navigation system based on earth GNSS and moon navigation satellite
CN112379398A (en) * 2020-09-30 2021-02-19 中国人民解放军军事科学院国防科技创新研究院 Earth-moon space satellite navigation positioning method

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CN102736091A (en) * 2012-06-29 2012-10-17 上海微小卫星工程中心 Satellite navigation method and system for wide-area detection on stellar surface
CN103995268A (en) * 2014-05-23 2014-08-20 北京理工大学 Satellite navigation receiver local time correction method and positioning method

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Publication number Priority date Publication date Assignee Title
US20050192719A1 (en) * 2003-12-08 2005-09-01 Suneel Ismail Sheikh Navigational system and method utilizing sources of pulsed celestial radiation
US20080059009A1 (en) * 2006-09-05 2008-03-06 Honeywell International Inc. Systems and methods for interplanetary navigation
CN102736091A (en) * 2012-06-29 2012-10-17 上海微小卫星工程中心 Satellite navigation method and system for wide-area detection on stellar surface
CN103995268A (en) * 2014-05-23 2014-08-20 北京理工大学 Satellite navigation receiver local time correction method and positioning method

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106595667A (en) * 2016-12-07 2017-04-26 中国电子科技集团公司第五十四研究所 Mutual synchronization-based indoor pseudolite double-point positioning system and method
CN106595667B (en) * 2016-12-07 2019-04-26 中国电子科技集团公司第五十四研究所 A kind of indoor pseudo satellite, pseudolite two point positioning system and method based on mutually synchronization
CN108957501A (en) * 2018-06-04 2018-12-07 北京因子图导航技术有限公司 A kind of ground base navigation localization method and system that digital ground multimedia broadcast is synchronous
CN110986964A (en) * 2019-12-26 2020-04-10 西安空间无线电技术研究所 Moon navigation system based on earth GNSS and moon navigation satellite
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CN110986964B (en) * 2019-12-26 2021-10-01 西安空间无线电技术研究所 Moon navigation system based on earth GNSS and moon navigation satellite
CN112379398A (en) * 2020-09-30 2021-02-19 中国人民解放军军事科学院国防科技创新研究院 Earth-moon space satellite navigation positioning method

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Application publication date: 20151216