CN105866808A - Method for confirming influence of orbit determination errors of navigation receiver to satellite attitude precision - Google Patents
Method for confirming influence of orbit determination errors of navigation receiver to satellite attitude precision Download PDFInfo
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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
- G01S19/40—Correcting position, velocity or attitude
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The invention discloses a method for confirming influence of orbit determination errors of a navigation receiver to satellite attitude precision. According to the method, the relationship between a position speed output from the navigation receiver and the number of orbits is sufficiently utilized, and expression equations of position and speed errors and the influence of the attitude confirmation precision are extracted; and according to the conversion relationship, transitive relation of errors of positions and speeds to attitude angles in three directions can be successfully analyzed and solved, the influence of navigation errors in any position to the attitude can be provided, and a visible method is provided for navigation error allocation and attitude confirmation error analysis in engineering design.
Description
Technical field
The present invention relates to a kind of navigation neceiver Orbit Error determination method on the impact of attitude of satellite precision.
Background technology
Track determines that the precision that attitude is determined by error has a great impact, and in general, Orbit Error is directly reflected into
Attitude determines in error.In order to measure the accurate pointing of the metric data of unit on utility star, it is necessary to be accurately determined and defend
Star position in orbit, makes orbit determination accuracy error adapt with the certainty of measurement error of star sensor.Error due to orbit determination
Influence whether the precision of attitude angle, error transfer function can not be gone out by directly calculation merely with position, speed, need one intuitively
Method processes and affects relation between the attitude of satellite and Orbit Error.
Summary of the invention
The present invention provides a kind of navigation neceiver Orbit Error determination method on the impact of attitude of satellite precision, fully profit
By the relation between position and speed and the orbital tracking of navigation neceiver output, it is extracted position and speed error and attitude is determined essence
Expression formula between degree impact, by the transformational relation between them, successful analysis calculates the error of position and speed to appearance
The transitive relation that state angle is brought respectively in three directions, can provide the impact on attitude of the optional position navigation error, to engineering
In design, with attitude, navigation error distribution determines that error analysis provides direct-vision method.
In order to achieve the above object, the present invention provides the impact on attitude of satellite precision of a kind of navigation neceiver Orbit Error
Determination method, comprise the steps of
Step S1, the relation determined between position and speed and three-axis attitude;
The conversion relative to geocentric inertial coordinate system of the satellite orbit coordinate system is tried to achieve in position according to certain moment with velocity
Matrix Aoi, carry out Taylor expansion and retain more than second order in a small amount, obtaining position and speed to error matrix Δ AoiImpact close
System, according to the attitude of satellite and matrix AoiRelation, determine the relation of position and speed and three-axis attitude;
Step S2, determine position and the speed each component transmission function to three-axis attitude respectively;
Utilize the relation between the feature of near-circular orbit and orbital tracking and position and speed, to position velocity error and three axles
Transfer function by abbreviation between attitude, obtain expression formula intuitively.
In described step S1, determine that the step of the relation between position and speed and attitude specifically comprises the steps of
If the transition matrix of theoretical orbital coordinate system OXYZ that the position according to theory and velocity determine is Aoi, and root
Border obtains factually the position with error and the orbital coordinate system that determines of velocityTransition matrix beDue to
Position and speed error is in a small amount relative to position and speed, can represent its error delta A with following formula:
On the other hand, can be by the concept of " attitude angle " AoiWithConnect, the error converting of orbital coordinate system
To corresponding rolling, pitching, three attitude errors of driftageθ, ψ, when little deviation, note attitude error matrix is C:
Have
Then C=(Aoi+ΔA)Aoi -1=E+ Δ AAoi T (4)
Consider to be accurate to single order in a small amount:
Wushu (5) substitutes into formula (4) and obtains:
Brought into formula (6) left end by the C battle array approximated again, by formula (6) right-hand member by matrix operations rule launch, allow left and right two end moments
In Zhen, the set of data is equal, can obtainθ, ψ and site error [Δ x, Δ y, Δ z] and velocity errorPass
System, matrix is unfolded as follows:
Make corresponding element equal, solve rolling, pitching, three attitude errors of driftageθ, ψ:
In described step S2, determine that three-axis attitude is transmitted the step of function by position and each component of speed respectively concrete
Comprise:
Step S2.1, calculate site error [Δ x, Δ y, Δ z] and velocity error respectivelyThree axles caused
Attitude error;
Step S2.2, by three-axis attitude angle error total for each amount joint accountθ、ψ。
Described step S2.1 specifically comprises the steps of
All directions site error [Δ x, Δ y, Δ z] and velocity errorThe attitude error calculating side caused
Method is similar to, and remembers that the rolling caused, pitching, three attitude errors of driftage are respectivelyθj、ψj, wherein
Here the attitude error that X causes is stressed to site error Δ xθy、ψz;
For understanding the Changing Pattern of error in whole flight course, AoiWith the conversion determined according to orbital elements accordingly
Matrix represents, is otherwise determined that position vectorAnd velocity With orbital elements latitude
Degree relation between argument u, right ascension of ascending node Ω, inclination angle i, for near-circular orbit, has:
From the definition of satellite orbit coordinate system, satellite orbit coordinate is tried to achieve in position and velocity according to certain moment
It is the transition matrix A of relative geocentric inertial coordinate systemoiFor:
Aoi(1, i)=Aoi(2,j)×Aoi(3,k) (15)
Wherein i=1,2,3, corresponding to transition matrix AoiIn three components of each row vector, Aoi(2,j)、Aoi(3,k)
For transition matrix AoiIn the second row and the row vector of the third line;
Calculate the attitude angle deviation matrix Δ A caused due to site error Δ x belowx:
Thus it is as follows to obtain the attitude error that site error Δ x causes:
?WithBring formula (17) into, obtain:
Owing to track is near-circular orbit, between speed and position vector, angle is close to 90 °, so that
Therefore obtain:
In like manner have:
In like manner obtain the impact on three-axis attitude of other amounts.
Described step S2.2 specifically comprises the steps of
Each amount is merged and obtains total attitude errorθ, ψ:
The present invention makes full use of the relation between position and speed and the orbital tracking of navigation neceiver output, is extracted position
Velocity error is on the expression formula between attitude determination accuracy impact, and by the transformational relation between them, successful analysis calculates
The transitive relation that attitude angle is brought respectively by the error of position and speed in three directions, can provide optional position navigation error
With attitude, impact on attitude, determines that error analysis provides direct-vision method to navigation error distribution in engineering design.
Detailed description of the invention
Detailed description below presently preferred embodiments of the present invention.
The present invention provides a kind of navigation neceiver Orbit Error determination method on the impact of attitude of satellite precision, comprise with
Lower step:
Step S1, the relation determined between position and speed and three-axis attitude;
The conversion relative to geocentric inertial coordinate system of the satellite orbit coordinate system is tried to achieve in position according to certain moment with velocity
Matrix Aoi, carry out Taylor expansion and retain more than second order in a small amount, obtaining position and speed to error matrix Δ AoiImpact close
System, according to the attitude of satellite and matrix AoiRelation, determine the relation of position and speed and three-axis attitude;
Step S2, determine position and the speed each component transmission function to three-axis attitude respectively;
Utilize the relation between the feature of near-circular orbit and orbital tracking and position and speed, to position velocity error and three axles
Transfer function by abbreviation between attitude, obtain expression formula intuitively.
In described step S1, determine that the step of the relation between position and speed and attitude specifically comprises the steps of
If the transition matrix of theoretical orbital coordinate system OXYZ that the position according to theory and velocity determine is Aoi, and root
Border obtains factually the position with error and the orbital coordinate system that determines of velocityTransition matrix beDue to
Position and speed error is in a small amount relative to position and speed, can represent its error delta A with following formula:
On the other hand, can be by the concept of " attitude angle " AoiWithConnect, the error converting of orbital coordinate system
To corresponding rolling, pitching, three attitude errors of driftageθ, ψ, when little deviation, note attitude error matrix is C:
Have
Then C=(Aoi+ΔA)Aoi -1=E+ Δ AAoi T (4)
Consider to be accurate to single order in a small amount:
Wushu (5) substitutes into formula (4) and obtains:
Brought into formula (6) left end by the C battle array approximated again, by formula (6) right-hand member by matrix operations rule launch, allow left and right two end moments
In Zhen, the set of data is equal, can obtainθ, ψ and site error [Δ x, Δ y, Δ z] and velocity errorPass
System, matrix is unfolded as follows:
Make corresponding element equal, solve rolling, pitching, three attitude errors of driftageθ, ψ:
In described step S2, determine that three-axis attitude is transmitted the step of function by position and each component of speed respectively concrete
Comprise:
Step S2.1, calculate site error [Δ x, Δ y, Δ z] and velocity error respectivelyThree axles caused
Attitude error;
Step S2.2, by three-axis attitude angle error total for each amount joint accountθ、ψ。
Described step S2.1 specifically comprises the steps of
All directions site error [Δ x, Δ y, Δ z] and velocity errorThe attitude error calculating side caused
Method is similar to, and remembers that the rolling caused, pitching, three attitude errors of driftage are respectivelyθj、ψj, wherein
Here the attitude error that X causes is stressed to site error Δ xθy、ψz;
For understanding the Changing Pattern of error in whole flight course, AoiWith the conversion determined according to orbital elements accordingly
Matrix represents, is otherwise determined that position vectorAnd velocity With orbital elements latitude
Relation between argument u, right ascension of ascending node Ω, inclination angle i, for near-circular orbit, has:
From the definition of satellite orbit coordinate system, satellite orbit coordinate is tried to achieve in position and velocity according to certain moment
It is the transition matrix A of relative geocentric inertial coordinate systemoiFor:
Aoi(1, i)=Aoi(2,j)×Aoi(3,k) (15)
Wherein i=1,2,3, corresponding to transition matrix AoiIn three components of each row vector, Aoi(2,j)、Aoi(3,k)
For transition matrix AoiIn the second row and the row vector of the third line;
Calculate the attitude angle deviation matrix Δ A caused due to site error Δ x belowx:
Thus it is as follows to obtain the attitude error that site error Δ x causes:
?WithBring formula (17) into, obtain:
Owing to track is near-circular orbit, between speed and position vector, angle is close to 90 °, so that
Therefore obtain:
In like manner have:
In like manner obtain the impact on three-axis attitude of other amounts.
Described step S2.2 specifically comprises the steps of
Each amount is merged and obtains total attitude errorθ, ψ:
The present invention makes full use of the relation between position and speed and the orbital tracking of navigation neceiver output, is extracted position
Velocity error is on the expression formula between attitude determination accuracy impact, and by the transformational relation between them, successful analysis calculates
The transitive relation that attitude angle is brought respectively by the error of position and speed in three directions, can provide optional position navigation error
With attitude, impact on attitude, determines that error analysis provides direct-vision method to navigation error distribution in engineering design.
Although present disclosure has been made to be discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read foregoing, for the present invention's
Multiple amendment and replacement all will be apparent from.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (5)
1. the navigation neceiver Orbit Error determination method on the impact of attitude of satellite precision, it is characterised in that comprise with
Lower step:
Step S1, the relation determined between position and speed and three-axis attitude;
The satellite orbit coordinate system transition matrix relative to geocentric inertial coordinate system is tried to achieve in position according to certain moment with velocity
Aoi, carry out Taylor expansion and retain more than second order in a small amount, obtaining position and speed to error matrix Δ AoiThe relation that affects, root
According to the attitude of satellite and matrix AoiRelation, determine the relation of position and speed and three-axis attitude;
Step S2, determine position and the speed each component transmission function to three-axis attitude respectively;
Utilize the relation between the feature of near-circular orbit and orbital tracking and position and speed, to position velocity error and three-axis attitude
Between transfer function by abbreviation, obtain expression formula intuitively.
2. the navigation neceiver Orbit Error determination method on the impact of attitude of satellite precision as claimed in claim 1, it is special
Levy and be, in described step S1, determine that the step of the relation between position and speed and attitude specifically comprises the steps of
If the transition matrix of theoretical orbital coordinate system OXYZ that the position according to theory and velocity determine is Aoi, and according to reality
The orbital coordinate system that the position with error of border acquisition and velocity determineTransition matrix beDue to position
Velocity error is in a small amount relative to position and speed, can represent its error delta A with following formula:
On the other hand, can be by the concept of " attitude angle " AoiWithConnect, the error converting of orbital coordinate system to phase
The rolling answered, pitching, three attitude errors of driftageθ, ψ, when little deviation, note attitude error matrix is C:
Have
Then
Consider to be accurate to single order in a small amount:
Wushu (5) substitutes into formula (4) and obtains:
Brought into formula (6) left end by the C battle array approximated again, formula (6) right-hand member is launched by matrix operations rule, allow in the matrix of two ends, left and right
The set of data is equal, can obtainθ, ψ and site error [Δ x, Δ y, Δ z] and velocity errorRelation, matrix
It is unfolded as follows:
Make corresponding element equal, solve rolling, pitching, three attitude errors of driftageθ, ψ:
3. the navigation neceiver Orbit Error determination method on the impact of attitude of satellite precision as claimed in claim 1, it is special
Levy and be, in described step S2, determine that three-axis attitude is transmitted the step of function by position and each component of speed respectively concrete
Comprise:
Step S2.1, calculate site error [Δ x, Δ y, Δ z] and velocity error respectivelyThe three-axis attitude caused
Angle error;
Step S2.2, by three-axis attitude angle error total for each amount joint accountθ、ψ。
4. the navigation neceiver Orbit Error determination method on the impact of attitude of satellite precision as claimed in claim 3, it is special
Levying and be, described step S2.1 specifically comprises the steps of
All directions site error [Δ x, Δ y, Δ z] and velocity errorThe attitude error computational methods class caused
Seemingly, note cause rolling, pitching, three attitude errors of driftage be respectivelyθj、ψj, whereinHere
Stress the attitude error that X causes to site error Δ xθy、ψz;
For understanding the Changing Pattern of error in whole flight course, AoiWith the transition matrix determined according to orbital elements accordingly
Represent, be otherwise determined that position vectorAnd velocity With orbital elements latitude width
Relation between angle u, right ascension of ascending node Ω, inclination angle i, for near-circular orbit, has:
From the definition of satellite orbit coordinate system, satellite orbit coordinate system phase is tried to achieve in position and velocity according to certain moment
Transition matrix A to geocentric inertial coordinate systemoiFor:
Aoi(1, i)=Aoi(2,j)×Aoi(3,k) (15)
Wherein i=1,2,3, corresponding to transition matrix AoiIn three components of each row vector, Aoi(2,j)、Aoi(3, k) for turning
Change matrix AoiIn the second row and the row vector of the third line;
Calculate the attitude angle deviation matrix Δ A caused due to site error Δ x belowx:
Thus it is as follows to obtain the attitude error that site error Δ x causes:
?WithBring formula (17) into, obtain:
Owing to track is near-circular orbit, between speed and position vector, angle is close to 90 °, so that
Therefore obtain:
In like manner have:
In like manner obtain the impact on three-axis attitude of other amounts.
5. the navigation neceiver Orbit Error determination method on the impact of attitude of satellite precision as claimed in claim 3, it is special
Levying and be, described step S2.2 specifically comprises the steps of
Each amount is merged and obtains total attitude errorθ, ψ:
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Cited By (2)
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CN107525492A (en) * | 2017-07-20 | 2017-12-29 | 航天东方红卫星有限公司 | A kind of drift angle simulating analysis suitable for quick earth observation satellite |
CN110505004A (en) * | 2019-08-13 | 2019-11-26 | 北京邮电大学 | A kind of the satellite-signal acquisition methods and device of S-band satellite mobile communication |
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CN107525492A (en) * | 2017-07-20 | 2017-12-29 | 航天东方红卫星有限公司 | A kind of drift angle simulating analysis suitable for quick earth observation satellite |
CN107525492B (en) * | 2017-07-20 | 2020-09-18 | 航天东方红卫星有限公司 | Drift angle simulation analysis method suitable for agile earth observation satellite |
CN110505004A (en) * | 2019-08-13 | 2019-11-26 | 北京邮电大学 | A kind of the satellite-signal acquisition methods and device of S-band satellite mobile communication |
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