CN107238846A - A kind of satellite position based on GLONASS almanac parameters and velocity prediction method - Google Patents
A kind of satellite position based on GLONASS almanac parameters and velocity prediction method Download PDFInfo
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- CN107238846A CN107238846A CN201710278228.0A CN201710278228A CN107238846A CN 107238846 A CN107238846 A CN 107238846A CN 201710278228 A CN201710278228 A CN 201710278228A CN 107238846 A CN107238846 A CN 107238846A
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/08—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing integrity information, e.g. health of satellites or quality of ephemeris data
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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses a kind of satellite position based on GLONASS almanac parameters and velocity prediction method.The problem of can quickly estimating satellite position and speed using GLONASS almanac parameters using the present invention, amount of calculation is small.Orbital tracking method for expressing of the invention based on satellite orbit principle of dynamics and satellite position speed, orbit parameter and its rates of change such as mean angular velocity, semi-major axis, eccentric anomaly, mean anomaly and right ascension of ascending node according to the GLONASS almanac parameters calculating observation moment, and then try to achieve latitude argument, latitude argument rate of change, footpath arrow and the footpath arrow rate of change at observation moment, thus satellite can be tried to achieve in the position of orbital coordinate system and speed, position and speed of the satellite under the coordinate systems of PZ 90 are finally tried to achieve according to Formula of Coordinate System Transformation.
Description
Technical field
The present invention relates to technical field of satellite navigation, and in particular to a kind of satellite position based on GLONASS almanac parameters
With velocity prediction method.
Background technology
Almanac parameters are the important components of satellite navigation system navigation message, and it is captured in navigation receiver signal
During play a very important role.In the case of no auxiliary information, receiver estimates satellite according to almanac parameters
General location and speed, reappear visible satellite and scan for, it is to avoid search star all over the sky.Meanwhile, estimate satellite according to satellite velocities
The outline Doppler frequency shift of relative receiver, can search for signal in signal acquisition phase supplementary frequency-domain, substantially reduce satellite letter
Number capture time, and then shorten primary positioning time.Therefore, succinct effectively directly affect of almanac parameters user algorithm is led
Navigate receiver signal capturing and tracking performances.Existing GLONASS almanac parameters user algorithm, which is used, is based on satellite orbit mean elements
Analytic modell analytical model method, this method expression formula is complicated, calculation procedure is more.The present invention proposes a kind of GLONASS of simple and fast
Almanac parameters user's algorithm, and give detailed calculation procedure and specific calculation formula.
The content of the invention
In view of this, the invention provides a kind of satellite position based on GLONASS almanac parameters and velocity prediction side
Method, the problem of can quickly estimating satellite position and speed using GLONASS almanac parameters, amount of calculation is small.
The satellite position based on GLONASS almanac parameters of the present invention and velocity prediction method, comprise the following steps：
Step 1, the time of ascending node is passed through in one day in GLONASS almanac parameters firstThe calculating observation moment
T is relativeNaturalization time tk：
Step 2, t is calculatedkMoment satellite orbit period Tk, satellite motion mean angular velocity n0kWith satellite orbit semi-major axis
Ak：
n0k=2 π/Tk
Wherein,To spend the ascending node moment first to satellite orbit period average value in GLONASS almanac parameters
Correction value；ForRate of change；GM is the Gravitational coefficient of the Earth of PZ-90 coordinate systems；
Step 3, calculateThe satellite orbit eccentric anomaly E at moment0kWith mean anomaly M0k：
Wherein,For in GLONASS almanac parameters first cross ascending node moment satellite orbit perigee angle,For
Ascending node moment eccentricity of satellite orbit is crossed first in GLONASS almanac parameters；
Step 4, t is calculatedkThe moment right ascension average rate of change
Wherein, ReFor earth radius；J2For gravitational field zonal harmonic coefficient；ikFor inclination of satellite orbit,
PkFor satellite and the radial distance in the earth's core, For in GLONASS almanac parameters cross ascending node when
Carve the correction value to inclination of satellite orbit average value；
Step 5, t is calculatedkMoment satellite mean angular velocity rate of change
Step 6, t is calculatedkMoment satellite mean anomaly Mk：
Step 7, with MkIt is used as Ek-1Initial value, utilize Newton iteration method calculate tkThe eccentric anomaly E at momentk：
Iteration termination condition is | Ek-Ek-1|≤10σ；Depending on wherein σ is according to computational accuracy；
Step 8, t is calculatedkMoment satellite orbit latitude argument phikR is sweared with footpathk：
Step 9, defined according to the track six roots of sensation number of satellite orbit, calculate each satellite orbit parameter rate of change：Satellite orbit
Mean anomaly rate of changeEccentric anomaly rate of changeLatitude argument rate of changeHalf-court axle rate of changeAscending node
Right ascension rate of changeEarth rotation speed ωeRate of change is sweared with footpath
Step 10, position (x' of the satellite in orbital coordinate system is calculatedk,y'k,z'k) and speed (v'x, v'y, v'z)：
x'k=rkcosφk,y'k=rksinφk,z'k=0
Step 11, t is calculatedkMoment ascending node of satellite orbit longitude Ωk：
Step 12, position and speed of the satellite under PZ-90 coordinate systems are calculated, satellite position (x is obtainedk, yk, zk) and speed
Spend (vxk, vyk, vzk)：
xk=x'kcosΩk-y'kcosik sinΩk
yk=x'ksinΩk+y'kcosikcosΩk
zk=y'k sinik
vyk=v'xksinΩk-v'ykcosikcosΩk-xkΩk。
vzk=v'yksinik
Beneficial effect：
Prior art is contrasted, the present invention can effectively reduce algorithm complex, realize that GLONASS almanac parameters user calculates
Method, in the known ephemeris time, satellite orbital position and velocity information are calculated using the method in the present invention, and amount of calculation is small.
Embodiment
Embodiment is named, the present invention will be described in detail.
The present invention is had based on the specifically defined of GLONASS almanac parameters to existing classical GPS user algorithm model
Pointedly improve there is provided a kind of satellite position based on GLONASS almanac parameters and velocity prediction method, based on satellite
The orbital tracking method for expressing of dynamics of orbits principle and satellite position speed, according to GLONASS almanac parameters (such as the institute of table 1
Show) orbit parameter such as mean angular velocity, semi-major axis, eccentric anomaly, mean anomaly and the right ascension of ascending node at calculating observation moment
And its rate of change, and then latitude argument, latitude argument rate of change, footpath arrow and the footpath arrow rate of change at observation moment are tried to achieve, thus
Satellite can be tried to achieve in the position of orbital coordinate system and speed, satellite is finally tried to achieve according to Formula of Coordinate System Transformation in PZ-90 coordinate systems
Under position and speed.
Table 1GLONASS almanac parameters
Specifically include following steps：
Step 1, any observation moment t is specified, its is calculated relativeNaturalization time tk：
Wherein,Pass through the time of ascending node first for one day in almanac parameters.
Step 2, the single order rate of change based on satellite orbit period, calculates tkMoment satellite orbit period Tk：
Wherein,For the ascending node moment is spent in almanac parameters first to satellite orbit period average value (43200s)
Correction value；ForRate of change.
Step 3, t is calculatedkMoment satellite motion mean angular velocity n0kAnd satellite orbit semi-major axis Ak：
n0k=2 π/Tk (3)
Wherein, GM is the Gravitational coefficient of the Earth of PZ-90 coordinate systems.
Step 4, calculateThe satellite orbit eccentric anomaly E at moment0kWith mean anomaly M0k：
Wherein,For in almanac parameters first cross ascending node moment satellite orbit perigee angle,Join for almanac
Ascending node moment eccentricity of satellite orbit is crossed first in number.
Step 5, because the GLONASS satellite location prediction time is shorter, perturbation of earths gravitational field in earth operation is ignored high
Rank variable quantity and life are set in a small amount, calculate tkThe moment right ascension average rate of change
Wherein, ReFor earth radius, J2For gravitational field zonal harmonic coefficient, ikFor inclination of satellite orbit, computational methods are shown in formula
(8)；PkFor satellite and the radial distance in the earth's core, computational methods are shown in formula (9)：
Wherein,To cross correction value of the ascending node moment to inclination of satellite orbit average value in almanac parameters.
Step 6, according to satellite period and the display expression formula relation of satellite motion mean angular velocity, t is calculatedkWhen
Carve satellite mean angular velocity rate of change
Step 7, t is calculatedkThe satellite mean anomaly M at momentk：
With MkIt is used as Ek-1Initial value, utilize Newton iteration method calculate tkThe eccentric anomaly E at momentk：
Iteration termination condition is | Ek-Ek-1| depending on≤10 σ, wherein σ are according to computational accuracy, typically take -12.
Step 8, t is calculatedkMoment satellite orbit latitude argument phikR is sweared with footpathk：
Step 9, defined according to the track six roots of sensation number of satellite orbit, calculate each satellite orbit parameter rate of change：
Wherein,For mean anomaly rate of change,For eccentric anomaly rate of change,For latitude argument rate of change,For
Half-court axle rate of change,For right ascension of ascending node rate of change, ωeFor earth rotation speed,Rate of change is sweared for footpath.
Step 10, satellite is calculated in the position of orbital coordinate system and speed：
Step 11, t is calculatedkMoment ascending node of satellite orbit longitude Ωk：
Step 12, position and speed of the satellite under PZ-90 coordinate systems are calculated：
xk=x'kcosΩk-y'kcosik sinΩk
yk=x'ksinΩk+y'kcosikcosΩk (24)
zk=y'k sinik
vzk=v'yksinik
So far, the calculating by GLONASS almanac parameters to satellite orbital position and speed is just completed.
In summary, presently preferred embodiments of the present invention is these are only, the protection model of the present invention is not intended to limit
Enclose.Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., should be included in this hair
Within bright protection domain.
Claims (1)
1. a kind of satellite position based on GLONASS almanac parameters and velocity prediction method, it is characterised in that including following step
Suddenly：
Step 1, the time of ascending node is passed through in one day in GLONASS almanac parameters firstThe calculating observation moment, t was relativeNaturalization time tk：
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<mi>A</mi>
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Step 2, t is calculatedkMoment satellite orbit period Tk, satellite motion mean angular velocity n0kWith satellite orbit semi-major axis Ak：
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<mi>T</mi>
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Wherein,To cross amendment of the ascending node moment to satellite orbit period average value first in GLONASS almanac parameters
Value；ForRate of change；GM is the Gravitational coefficient of the Earth of PZ-90 coordinate systems；
Step 3, calculateThe satellite orbit eccentric anomaly E at moment0kWith mean anomaly M0k：
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Wherein,For in GLONASS almanac parameters first cross ascending node moment satellite orbit perigee angle,For
Ascending node moment eccentricity of satellite orbit is crossed first in GLONASS almanac parameters；
Step 4, t is calculatedkThe moment right ascension average rate of change
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Wherein, ReFor earth radius；J2For gravitational field zonal harmonic coefficient；ikFor inclination of satellite orbit,PkTo defend
Star and the radial distance in the earth's core, To spend the ascending node moment to defending in GLONASS almanac parameters
The correction value of star orbital road inclination average value；
Step 5, t is calculatedkMoment satellite mean angular velocity rate of change
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Step 6, t is calculatedkMoment satellite mean anomaly Mk：
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Step 7, with MkIt is used as Ek-1Initial value, utilize Newton iteration method calculate tkThe eccentric anomaly E at momentk：
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<mi>E</mi>
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Iteration termination condition is | Ek-Ek-1|≤10σ；Depending on wherein σ is according to computational accuracy；
Step 8, t is calculatedkMoment satellite orbit latitude argument phikR is sweared with footpathk：
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<mi>k</mi>
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1
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Step 9, defined according to the track six roots of sensation number of satellite orbit, calculate each satellite orbit parameter rate of change：Satellite orbit it is flat
Near point angular rate of changeEccentric anomaly rate of changeLatitude argument rate of changeHalf-court axle rate of changeRight ascension of ascending node
Rate of changeEarth rotation speed ωeRate of change is sweared with footpath
Step 10, position x ' of the satellite in orbital coordinate system is calculatedk,y′k,z′kWith speed v 'x, v 'y, v 'z：
x′k=rkcosφk,y′k=rksinφk,z′k=0
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</mrow>
Step 11, t is calculatedkMoment ascending node of satellite orbit longitude Ωk：
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<msub>
<mi>&Omega;</mi>
<mi>k</mi>
</msub>
<mo>=</mo>
<msubsup>
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<mi>n</mi>
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<mi>t</mi>
<mi>k</mi>
</msub>
</mrow>
Step 12, position and speed of the satellite under PZ-90 coordinate systems are calculated, satellite position x is obtainedk, yk, zkWith speed vxk,
vyk, vzk：
xk=x 'kcosΩk-y′kcosiksinΩk
yk=x 'ksinΩk+y′kcosikcosΩk
zk=y 'ksinik
<mrow>
<msub>
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| CN112202484A (en) * | 2019-07-08 | 2021-01-08 | 华为技术有限公司 | Satellite communication method, device, terminal equipment, satellite and readable storage medium |
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| CN109358352A (en) * | 2018-09-30 | 2019-02-19 | 天津讯联科技有限公司 | A kind of spaceborne real-time occultation forecasting procedure |
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| CN112202484B (en) * | 2019-07-08 | 2022-07-22 | 华为技术有限公司 | Satellite communication method, device, terminal equipment, satellite and readable storage medium |
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| CN112202484A (en) * | 2019-07-08 | 2021-01-08 | 华为技术有限公司 | Satellite communication method, device, terminal equipment, satellite and readable storage medium |
| CN110595485B (en) * | 2019-08-08 | 2023-08-11 | 上海航天电子有限公司 | Low-orbit satellite long-term orbit prediction method based on two-row number |
| CN110595485A (en) * | 2019-08-08 | 2019-12-20 | 上海航天电子有限公司 | Low-orbit satellite long-term orbit forecasting method based on two-line root number |
| CN114440886A (en) * | 2021-12-30 | 2022-05-06 | 上海航天控制技术研究所 | High-precision track calculation method for large-eccentricity track |
| CN114440886B (en) * | 2021-12-30 | 2023-09-05 | 上海航天控制技术研究所 | High-accuracy track calculation method for large-eccentricity track |
| CN114814904A (en) * | 2022-03-25 | 2022-07-29 | 西安电子科技大学 | Confidence prediction method and system |
| CN117092664A (en) * | 2023-10-17 | 2023-11-21 | 青岛杰瑞自动化有限公司 | Positioning anti-interference method and system based on time service system and electronic equipment |
| CN117092664B (en) * | 2023-10-17 | 2024-01-09 | 青岛杰瑞自动化有限公司 | Positioning anti-interference method and system based on time service system and electronic equipment |
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