CN107402394B - Satellite-borne frequency measurement positioning error source on-orbit calibration method and device - Google Patents
Satellite-borne frequency measurement positioning error source on-orbit calibration method and device Download PDFInfo
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Abstract
The invention discloses an on-orbit calibration method and device for a satellite-borne frequency measurement positioning error source. The method comprises the following steps: selecting a calibration station within the wave beam coverage range of the frequency measurement satellite, and controlling the calibration station to transmit a calibration signal within the working frequency range of the frequency measurement satellite; controlling the frequency measurement satellite to carry out N times of frequency measurement on the calibration signal to obtain a frequency measurement matrix of the calibration signal; calculating a state matrix of a calibration signal according to a position vector of a calibration station in a geocentric fixed coordinate system, a position vector of a frequency measurement satellite in the geocentric fixed coordinate system and a relative velocity vector; and calculating the frequency measurement deviation estimated value of the frequency measurement satellite according to the real frequency of the calibration signal, the frequency measurement matrix, the frequency measurement times N and the state matrix. Therefore, the method adopts the on-orbit calibration mode to eliminate the long-term drift error, and can improve the frequency measurement precision and the positioning precision of the frequency measurement satellite on the ground radiation source.
Description
Technical Field
The invention relates to the technical field of space-based radio positioning, in particular to an on-orbit calibration method and device for a satellite-borne frequency measurement positioning error source.
Background
The modern war is an information war, and the key for mastering the initiative of the war is whether the war situation can be sensed preferentially. The radio reconnaissance technology is one of the means for sensing the situation of wars, plays an important role in modern wars, particularly has the advantages of wide coverage range, high interception probability, flexible arrangement, high intelligence response speed, high cost-effectiveness ratio and the like, and becomes the competitive focus of all military and strong countries.
By utilizing the space-based radio reconnaissance technology, not only can the radio characteristic information and the intelligence information of the target be obtained, but also the target can be positioned and the target activity rule can be detected. By fusing the radio information and the position information of the target, more valuable military intelligence can be provided. Space-based radio positioning technology is one of the important technical requirements.
Of the various positioning means of space-based radio positioning technology, frequency measurement positioning, i.e. the precise positioning of an investigation object by means of the radio radiation characteristics of the investigation object, is the most common means. The pico-nano satellite with simple function and low cost is the development trend of space-based radio positioning technology, and combines a frequency measurement positioning means, the pico-nano satellite can not only realize the acquisition of radio signal information, but also accurately position a target, and the pico-nano satellite is an important space-based radio reconnaissance means.
However, due to the limitations of the weight, volume and cost of the pico-nano satellite, the stability of the frequency of the crystal oscillator serving as a frequency source of the digital receiver may be poor, both the long-term drift error and the short-term drift error are sensitive, and the long-term drift error and the short-term drift error of the crystal oscillator finally cause a certain error in the frequency measurement and the positioning of the pico-nano satellite to the ground low-speed or stationary radiation source, so that the frequency measurement or the positioning is inaccurate. The short-term drift error is mainly influenced by temperature, has a certain proportional relation with the temperature, and can be calibrated and compensated by ground measurement in advance; however, the long-term drift error is mainly affected by device aging, and the error gradually becomes larger along with the action of the on-orbit time and space environment, so that the on-orbit calibration can not be performed for compensation, and only the on-orbit calibration can be performed. The existence of long-term drift error leads to the problem that accurate frequency measurement information is difficult to obtain and accurate positioning cannot be carried out.
Disclosure of Invention
In order to eliminate the influence of long-term drift error on frequency measurement error and positioning error, the invention provides the on-orbit calibration method and device for the satellite-borne frequency measurement positioning error source.
According to one aspect of the invention, an on-orbit calibration method for a satellite-borne frequency measurement positioning error source is provided, and the method comprises the following steps:
selecting a calibration station within the wave beam coverage range of the frequency measurement satellite, and controlling the calibration station to transmit a calibration signal within the working frequency range of the frequency measurement satellite;
controlling the frequency measurement satellite to carry out multiple frequency measurements on the calibration signal to obtain a frequency measurement matrix of the calibration signal;
calculating a state matrix of the calibration signal according to a position vector of the calibration station in a geocentric fixed coordinate system, a position vector of the frequency measurement satellite in the geocentric fixed coordinate system and a relative velocity vector;
and calculating the frequency measurement deviation estimated value of the frequency measurement satellite according to the real frequency of the calibration signal, the frequency measurement matrix, the frequency measurement times and the state matrix.
According to another aspect of the invention, an on-orbit calibration device for a satellite-borne frequency measurement positioning error source is provided, and the device comprises:
the calibration station selection unit is used for selecting a calibration station in the wave beam coverage range of the frequency measurement satellite and controlling the calibration station to transmit a calibration signal in the working frequency range of the frequency measurement satellite;
the frequency measurement matrix acquisition unit is used for controlling the frequency measurement satellite to carry out multiple times of frequency measurement on the calibration signal to obtain a frequency measurement matrix of the calibration signal;
the state matrix calculation unit is used for calculating a state matrix of the calibration signal according to a position vector of the calibration station in a geocentric fixed connection coordinate system, a position vector of the frequency measurement satellite in the geocentric fixed connection coordinate system and a relative velocity vector;
and the frequency measurement deviation estimation value calculation unit is used for calculating the frequency measurement deviation estimation value of the frequency measurement satellite according to the real frequency of the calibration signal, the frequency measurement matrix, the frequency measurement times and the state matrix.
In summary, the technical scheme of the invention adopts an in-orbit calibration mode to eliminate long-term drift errors, selects a proper calibration station in the coverage range of the frequency measurement satellite beam, and controls the calibration station to transmit calibration signals within the working frequency range of the frequency measurement satellite, so as to ensure that the frequency measurement satellite has an arc section long enough to receive the calibration signals; after frequency measurement is carried out on the calibration signals of the calibration station for multiple times by controlling the frequency measurement satellite, a frequency measurement matrix of the calibration signals is obtained; calculating a state matrix of a calibration signal according to a position vector of a calibration station in a geocentric fixed connection coordinate system, a position vector of a frequency measurement satellite and a relative velocity vector; and calculating a frequency measurement deviation estimated value of the frequency measurement satellite according to the real frequency, the frequency measurement matrix, the frequency measurement times and the state matrix of the calibration signal, so that the frequency measurement deviation estimated value is used for correcting frequency measurement information of the frequency measurement satellite on the ground radiation source, and the corrected frequency measurement information is obtained and output, so that the influence of long-term drift errors on the frequency measurement errors and the positioning errors is eliminated, and the frequency measurement accuracy and the positioning accuracy of the frequency measurement satellite on the ground radiation source are improved.
Drawings
Fig. 1 is a schematic flow chart of an on-orbit calibration method for a satellite-borne frequency measurement positioning error source according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a position relationship between a frequency measurement satellite and a calibration station in a geocentric fixed coordinate system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an on-orbit calibration apparatus for a satellite-borne frequency measurement positioning error source according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an application system for on-orbit calibration of a satellite-borne frequency measurement positioning error source according to an embodiment of the present invention;
fig. 5 is a position relationship between a track of a frequency measurement satellite sub-satellite point and a calibration station according to an embodiment of the present invention;
fig. 6 is a graph illustrating a true arrival frequency of a calibration signal to a frequency measurement satellite and a measurement frequency of the frequency measurement satellite according to an embodiment of the present invention.
Detailed Description
The design idea of the invention is as follows: in order to eliminate the influence of long-term drift error on frequency measurement error and positioning error, the invention provides an on-orbit calibration method of a satellite-borne frequency measurement positioning error source, which comprises the steps of selecting a proper calibration station, controlling the calibration station to transmit a calibration signal within the working frequency range of a frequency measurement satellite, controlling a frequency measurement satellite to carry out multiple frequency measurement on the calibration signal, and then calculating a state matrix of the calibration signal according to a position vector of the calibration station in a geocentric fixed connection coordinate system, a position vector of the frequency measurement satellite and a relative velocity vector; and calculating the frequency measurement deviation estimated value of the frequency measurement satellite according to the real frequency of the calibration signal, the frequency measurement matrix of the frequency measurement satellite, the frequency measurement times and the state matrix, so that the frequency measurement deviation estimated value is utilized to correct the frequency measurement information of the frequency measurement satellite on the ground radiation source, and the accurate frequency measurement and the accurate positioning of the frequency measurement satellite on the ground radiation source can be realized. In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of an on-orbit calibration method for a satellite-borne frequency measurement positioning error source according to an embodiment of the present invention. As shown in fig. 1, the method includes:
and step S110, selecting a calibration station in the wave beam coverage range of the frequency measurement satellite, and controlling the calibration station to transmit a calibration signal in the working frequency range of the frequency measurement satellite.
In this embodiment, an appropriate calibration station needs to be selected within the beam coverage range of the frequency measurement satellite, and the calibration station is controlled to transmit a calibration signal within the working frequency range of the frequency measurement satellite so as to ensure that the calibration signal can be acquired by the frequency measurement satellite, and meanwhile, the frequency measurement satellite can receive the calibration signal in an arc section with a sufficient length.
And step S120, controlling the frequency measurement satellite to carry out multiple times of frequency measurement on the calibration signal to obtain a frequency measurement matrix of the calibration signal.
The number of measurements in this embodiment is not particularly limited, and may be 1 or more.
And step S130, calculating a state matrix of the calibration signal according to the position vector of the calibration station in the geocentric fixed coordinate system, the position vector of the frequency measurement satellite in the geocentric fixed coordinate system and the relative velocity vector.
And step S140, calculating a frequency measurement deviation estimated value of the frequency measurement satellite according to the real frequency of the calibration signal, the frequency measurement matrix, the frequency measurement times and the state matrix.
After the frequency measurement deviation estimated value is obtained, the frequency measurement deviation estimated value can be calibrated for a long-term offset error within a certain time, and in combination with calibration of a ground to short-term drift error, when the frequency measurement satellite carries out ground radiation source frequency measurement, compensation correction is carried out on frequency measurement information of the frequency measurement satellite to a ground radiation source, so that the frequency measurement precision and the positioning precision of the ground low-speed or static radiation source are improved. Therefore, the method eliminates the long-term drift error by adopting the on-orbit calibration mode of the frequency measurement positioning error source, improves the accuracy of the frequency measurement satellite on the ground radiation source, and further improves the positioning precision of the ground radiation source.
In an embodiment of the present invention, the frequency measurement satellite in step S120 is controlled to perform multiple frequency measurements on the calibration signal, and a frequency measurement matrix F of the calibration signal is obtained as follows:
F＝[fd1，fd2，…，fdN]T，
wherein f isdiAnd (i is 1, …, N) is N times of frequency measurement values of the calibration signal of the frequency measurement satellite pair, and N is an integer larger than 1.
Fig. 2 is a schematic diagram of a position relationship between a frequency measurement satellite and a calibration station in a geocentric fixed coordinate system according to an embodiment of the present invention. As shown in FIG. 2, the simplified earth model is a regular sphere, the center of the regular sphere is the earth center, and a coordinate system S is fixedly connectedeThe center O of (a).
Let the position vector of the calibration station B (still) in the earth-center fixed connection be rbThe position vector and the relative velocity vector of the satellite S in the earth-centered solid relationship are rs、vs. The doppler frequency f of the calibration signal to the satellite S is calibrateddComprises the following steps:
wherein, ω isEIs the angular velocity vector of the earth rotation, c is the speed of light, fbAnd calibrating the actual radiation frequency of the station. It can be shown that,
(rb-rs)·((ωE×rb)-(vs+ωE×rs))＝-(rb-rs)·vs
then the above formula can be simplified as:
fd＝fb(1+usb·vs/c)
usb＝(rb-rs)/||rb-rs||
due to the unstable characteristic of the crystal oscillator as the frequency source of the digital receiver in the satellite S, the measurement of the standard correction signal arrival frequency by the satellite S has multi-aspect measurement errors, namely long-term drift error, short-term drift error and random error. The long-term drift error is a function of time, is a slowly-varying process formed along with the aging of a device, can be regarded as fixed deviation within a certain time, and can be periodically calibrated in an on-track manner; the short-term drift error is a function of the temperature of the crystal oscillator, changes along with the temperature of the crystal oscillator, and can be calibrated and compensated by ground measurement in advance; the random error appears as white gaussian noise and cannot be compensated.
After the short-term drift error is compensated by ground calibration, the measurement of the arrival frequency of the calibration signal by the satellite S has no short-term drift error, only long-term drift error and random error. Then, the N measurements of the calibration signal can be expressed as:
fdi＝fb(1+usbi·vsi/c)+Δ+εii＝1，2，…，N
usbi＝(rb-rsi)/||rb-rsi|| i＝1，2，…，N
wherein r issi、vsiCan be obtained in real time from the GPS data of the satellite, and the delta is a fixed frequency measurement deviation epsilon in a short timeiFor measuring frequency random error (Gaussian white noise), the formula is simply transformed and written into a matrix form as follows:
F-Gfb＝CΔ+E
wherein C is an Nx 1-dimensional matrix of all 1,
F＝[fd1，fd2，…，fdN]T
G＝[g1，g2，…，gN]T
E＝[ε1，ε2，…εN]T
gi＝1+usbi·vsi/c i＝1，2，…，N
then, the estimated value of the frequency measurement deviation delta
Can be expressed as:
from the above-mentioned deduction, the frequency measurement data measured by the frequency measurement satellite has an equation relation with the position vector, the relative velocity vector and the position vector of the calibration station of the frequency measurement satellite.
If the position vector, the relative velocity vector and the position vector of the calibration station of the satellite S at different moments are obtained to obtain a state matrix, and then the relation between the state matrix and the frequency measurement information measured by the frequency measurement satellite is established through the formula, the estimated value of the frequency measurement deviation can be obtained
In an embodiment of the present invention, the calculating the state matrix of the calibration signal according to the position vector of the calibration station in the earth-centered fixed coordinate system, the position vector of the frequency measurement satellite in the earth-centered fixed coordinate system, and the relative velocity vector in step S130 includes:
receiving GPS data of the frequency measurement satellite, and obtaining position vectors r of the frequency measurement satellite at different moments according to the GPS datasiAnd a relative velocity vector vsiThen there is
usbi＝(rb-rsi)/||rb-rsi|| i＝1，2，…，N
gi＝1+usbi·vsi/c i＝1，2，…，N
The state matrix G of the calibration signals is:
G＝[g1，g2，…，gN]T
wherein c is the speed of light; r isbIs the position vector of the calibration station.
Then, in step S140, calculating a frequency measurement deviation estimation value of the frequency measurement satellite according to the true frequency of the calibration signal, the frequency measurement matrix, the frequency measurement frequency N, and the state matrix includes:
according to the real frequency of the calibration signal, the frequency measurement matrix, the frequency measurement times N and the state matrix, calculating the frequency measurement deviation estimation value of the frequency measurement satellite by a frequency measurement deviation estimation formula
The frequency measurement deviation estimation formula is as follows:
wherein C is an Nx 1-dimensional unit matrix, and F is a frequency measurement matrix; g is a state matrix; f. ofbThe real frequency of the calibration signal is obtained; and N is the frequency measurement times.
As described above, after the frequency measurement deviation estimation value is obtained, the frequency measurement deviation estimation value can be calibrated for a long-term offset error within a certain time, and in combination with calibration of a ground to short-term drift error, when the frequency measurement satellite performs ground radiation source frequency measurement, frequency measurement information of the ground radiation source is compensated and corrected by the frequency measurement satellite, so that the frequency measurement precision and the positioning precision of the ground low-speed or static radiation source are improved. In one embodiment of the present invention, the method shown in fig. 1 further comprises:
and correcting the frequency measurement information of the frequency measurement satellite to the ground radiation source by using the frequency measurement deviation estimated value, and acquiring and outputting the corrected frequency measurement information.
Fig. 3 is a schematic structural diagram of an on-orbit calibration device for a satellite-borne frequency measurement positioning error source according to an embodiment of the present invention. As shown in fig. 3, the on-orbit calibration device 300 for satellite-borne frequency measurement positioning error source includes:
the calibration station selecting unit 310 is used for selecting a calibration station within the beam coverage range of the frequency measurement satellite and controlling the calibration station to transmit a calibration signal within the working frequency range of the frequency measurement satellite;
the frequency measurement matrix obtaining unit 320 is configured to control the frequency measurement satellite to perform multiple frequency measurements on the calibration signal to obtain a frequency measurement matrix of the calibration signal;
the state matrix calculation unit 330 is configured to calculate a state matrix of the calibration signal according to a position vector of the calibration station in the geocentric fixed connection coordinate system, a position vector of the frequency measurement satellite in the geocentric fixed connection coordinate system, and a relative velocity vector;
and a frequency measurement deviation estimation value calculation unit 340, configured to calculate a frequency measurement deviation estimation value of the frequency measurement satellite according to the real frequency of the calibration signal, the frequency measurement matrix, the frequency measurement times, and the state matrix.
In an embodiment of the present invention, the frequency measurement matrix obtaining unit 320 controls the frequency measurement satellite to perform multiple frequency measurements on the calibration signal, and the obtained frequency measurement matrix F of the calibration signal is:
F＝[fd1，fd2，…，fdN]T，
wherein f isdiAnd (i is 1, …, N) is N times of frequency measurement values of the calibration signal of the frequency measurement satellite pair, and N is an integer larger than 1.
In an embodiment of the present invention, the state matrix calculation unit 330 is configured to receive GPS data of a frequency measurement satellite, and obtain a position vector r of the frequency measurement satellite at different time according to the GPS datasiAnd a relative velocity vector vsiThen there is
usbi＝(rb-rsi)/||rb-rsi|| i＝1，2，…，N
gi＝1+usbi·vsi/c i＝1，2，…，N
The state matrix G of the calibration signals is:
G＝[g1，g2，…，gN]T
wherein c is the speed of light; r isbIs the position vector of the calibration station.
In an embodiment of the present invention, the frequency measurement error calculation unit 340 is configured to calculate a frequency measurement deviation estimation value of the frequency measurement satellite according to the true frequency of the calibration signal, the frequency measurement matrix, the frequency measurement times and the state matrix by using a frequency measurement deviation estimation formula
The frequency measurement deviation estimation formula is as follows:
wherein C is an Nx 1-dimensional unit matrix, and F is a frequency measurement matrix; g is a state matrix; f. ofbThe real frequency of the calibration signal is obtained; and N is the frequency measurement times.
In one embodiment of the present invention, the apparatus shown in fig. 3 further comprises: and the correcting unit is used for correcting the frequency measurement information of the frequency measurement satellite to the ground radiation source by using the frequency measurement deviation estimated value, obtaining and outputting the corrected frequency measurement information.
The satellite-borne frequency measurement positioning error source in-orbit calibration device shown in fig. 3 can be applied to a ground operation control and data processing system, and is suitable for frequency measurement positioning calibration of a pico-satellite with simple function and low cost so as to improve the frequency measurement and positioning accuracy.
It should be noted that the apparatus shown in fig. 3 corresponds to the same method shown in fig. 1, and the above has been described in detail, and is not repeated herein.
Fig. 4 is a schematic diagram of an application system for on-orbit calibration of a satellite-borne frequency measurement positioning error source according to an embodiment of the present invention. As shown in fig. 4, the application system includes a satellite, a ground calibration station, and a ground operation control and data processing system. The ground calibration station and the ground operation control and data processing system comprise the satellite-borne frequency measurement positioning error source on-orbit calibration device shown in figure 3.
In order to make the technical effect of the present invention more obvious, the following description will be made through the simulation result of the technical scheme of the present invention. In a simulation experiment, firstly, the satellite-borne frequency measurement positioning error source on-orbit calibration method provided by the invention is used for implementation, and then an estimation error statistical result of frequency measurement deviation is given by a Monto-Carlo method.
Let the orbit of the frequency measurement satellite be a sun synchronous orbit with the height of 500km, the width of a ground beam covered by the detecting antenna be 120 degrees, the longitude and latitude of the ground calibration station be (143 degrees, 31.25 degrees), and fig. 5 is a position relation between the track of the satellite lower points of the frequency measurement satellite and the calibration station provided by an embodiment of the invention, as shown in fig. 5, the calibration station is arranged on the left side of the track of the satellite lower points of the frequency measurement satellite.
The satellite position self-positioning error is 5m (1 sigma), the speed self-positioning error is 0.1m/s (1 sigma), the frequency measurement random error is 1kHz (1 sigma), the real frequency measurement deviation caused by long-term drift is 10kHz, the observation time of the satellite receiving calibration signals is 200s, 1s gives a primary frequency measurement result, and the real radiation frequency of the ground calibration station is 2.7 GHz. Through simulation calculation, the estimated value of the frequency measurement deviation is 9.96kHz and is very close to the true value of 10 kHz. Fig. 6 is a graph illustrating a true arrival frequency of a calibration signal to a frequency measurement satellite and a measurement frequency of the frequency measurement satellite according to an embodiment of the present invention. As shown in fig. 6, the measurement frequency before calibration always has a fixed deviation from the true arrival frequency, and the measurement frequency after calibration obtained by using the estimated value of the frequency measurement deviation always fluctuates around the true arrival frequency, and the fluctuation range can be considered to be caused by the frequency measurement random error.
The Monto-Carlo method is adopted to carry out frequency measurement deviation estimation error statistics (simulation is carried out 10000 times), the standard deviation of the obtained estimation error is 70.7Hz (1 sigma), and the estimation precision is very high. Then, after the frequency measurement information of the ground radiation source is calibrated by the frequency measurement satellite by using the estimated value of the frequency measurement deviation, an accurate measurement frequency value can be obtained, and the ground radiation source can be accurately positioned.
In summary, the technical scheme of the invention adopts an in-orbit calibration mode to eliminate long-term drift errors, selects a proper calibration station in the coverage range of the frequency measurement satellite beam, and controls the calibration station to transmit calibration signals within the working frequency range of the frequency measurement satellite, so as to ensure that the frequency measurement satellite has an arc section long enough to receive the calibration signals; after frequency measurement is carried out on the calibration signals of the calibration station for multiple times by controlling the frequency measurement satellite, a frequency measurement matrix of the calibration signals is obtained; calculating a state matrix of a calibration signal according to a position vector of a calibration station in a geocentric fixed connection coordinate system, a position vector of a frequency measurement satellite and a relative velocity vector; and calculating a frequency measurement deviation estimated value of the frequency measurement satellite according to the real frequency, the frequency measurement matrix, the frequency measurement times and the state matrix of the calibration signal, so that the frequency measurement deviation estimated value is used for correcting frequency measurement information of the frequency measurement satellite on the ground radiation source, and the corrected frequency measurement information is obtained and output, so that the influence of long-term drift errors on the frequency measurement errors and the positioning errors is eliminated, and the frequency measurement accuracy and the positioning accuracy of the frequency measurement satellite on the ground radiation source are improved.
While the foregoing is directed to embodiments of the present invention, other modifications and variations of the present invention may be devised by those skilled in the art in light of the above teachings. It should be understood by those skilled in the art that the foregoing detailed description is for the purpose of better explaining the present invention, and the scope of the present invention should be determined by the scope of the appended claims.
Claims (10)
1. An on-orbit calibration method for a satellite-borne frequency measurement positioning error source is characterized by comprising the following steps:
selecting a calibration station within the wave beam coverage range of the frequency measurement satellite, and controlling the calibration station to transmit a calibration signal within the working frequency range of the frequency measurement satellite;
controlling the frequency measurement satellite to carry out multiple frequency measurements on the calibration signal to obtain a frequency measurement matrix of the calibration signal;
calculating a state matrix of the calibration signal according to a position vector of the calibration station in a geocentric fixed coordinate system, a position vector of the frequency measurement satellite in the geocentric fixed coordinate system and a relative velocity vector;
and calculating the frequency measurement deviation estimated value of the frequency measurement satellite according to the real frequency of the calibration signal, the frequency measurement matrix, the frequency measurement times and the state matrix.
2. The method of claim 1, wherein said frequency measurement satellite is controlled to perform a plurality of frequency measurements on said calibration signal to obtain a frequency measurement matrix F of said calibration signal as:
F＝[fd1,fd2,…,fdN]T，
wherein f isdi(i-1, …, N) is the frequency measurement value of said frequency measurement satellite for N times of said calibration signal, N is an integer greater than 1.
3. The method of claim 2, wherein the calculating the state matrix of the calibration signal according to the position vector of the calibration station in the earth-centered-fixed coordinate system, the position vector of the frequency measurement satellite in the earth-centered-fixed coordinate system, and the relative velocity vector comprises:
receiving GPS data of the frequency measurement satellite, and obtaining position vectors r of the frequency measurement satellite at different moments according to the GPS datasiAnd a relative velocity vector vsiThen there is
usbi＝(rb-rsi)/||rb-rsi||i＝1,2,…,N
gi＝1+usbi·vsi/c i＝1,2,…,N
The state matrix G of the calibration signal is as follows:
G＝[g1,g2,…,gN]T
wherein c is the speed of light; r isbIs the position vector of the calibration station.
4. The method of claim 3, wherein calculating the estimated frequency measurement bias for the frequency measurement satellite based on the true frequency of the calibration signal, the frequency measurement matrix, the number of frequency measurements, and the state matrix comprises:
calculating the frequency measurement deviation estimation value of the frequency measurement satellite by a frequency measurement deviation estimation formula according to the real frequency of the calibration signal, the frequency measurement matrix, the frequency measurement times and the state matrix
Wherein, the frequency measurement deviation estimation formula is as follows:
wherein C is an Nx 1-dimensional unit matrix, and F is the frequency measurement matrix; g is the state matrix; f. ofbThe real frequency of the calibration signal is obtained; and N is the frequency measurement times.
5. The method of any one of claims 1-4, wherein the method further comprises:
and correcting the frequency measurement information of the frequency measurement satellite to the ground radiation source by using the estimated frequency measurement deviation value, and acquiring and outputting the corrected frequency measurement information.
6. An on-orbit calibration device for a satellite-borne frequency measurement positioning error source, which is characterized by comprising:
the calibration station selection unit is used for selecting a calibration station in the wave beam coverage range of the frequency measurement satellite and controlling the calibration station to transmit a calibration signal in the working frequency range of the frequency measurement satellite;
the frequency measurement matrix acquisition unit is used for controlling the frequency measurement satellite to carry out multiple times of frequency measurement on the calibration signal to obtain a frequency measurement matrix of the calibration signal;
the state matrix calculation unit is used for calculating a state matrix of the calibration signal according to a position vector of the calibration station in a geocentric fixed connection coordinate system, a position vector of the frequency measurement satellite in the geocentric fixed connection coordinate system and a relative velocity vector;
and the frequency measurement deviation estimation value calculation unit is used for calculating the frequency measurement deviation estimation value of the frequency measurement satellite according to the real frequency of the calibration signal, the frequency measurement matrix, the frequency measurement times and the state matrix.
7. The apparatus of claim 6,
the frequency measurement matrix acquisition unit controls the frequency measurement satellite to carry out multiple frequency measurements on the calibration signal, and the frequency measurement matrix F of the calibration signal is obtained by:
F＝[fd1,fd2,…,fdN]T，
wherein f isdi(i-1, …, N) is the frequency measurement value of said frequency measurement satellite for N times of said calibration signal, N is an integer greater than 1.
8. The apparatus of claim 7,
the state matrix calculation unit is used for receiving the GPS data of the frequency measurement satellite and obtaining the position vectors r of the frequency measurement satellite at different moments according to the GPS datasiAnd a relative velocity vector vsiThen there is
usbi＝(rb-rsi)/||rb-rsi||i＝1,2,…,N
gi＝1+usbi·vsi/c i＝1,2,…,N
The state matrix G of the calibration signal is as follows:
G＝[g1,g2,…,gN]T
wherein c is the speed of light; r isbIs the position vector of the calibration station.
9. The apparatus of claim 8,
the frequency measurement error calculation unit is used for calculating the frequency measurement deviation estimation value of the frequency measurement satellite by a frequency measurement deviation estimation formula according to the real frequency of the calibration signal, the frequency measurement matrix, the frequency measurement times and the state matrix
Wherein, the frequency measurement deviation estimation formula is as follows:
wherein the content of the first and second substances,c is an Nx 1-dimensional unit matrix, and F is the frequency measurement matrix; g is the state matrix; f. ofbThe real frequency of the calibration signal is obtained; and N is the frequency measurement times.
10. The apparatus of any of claims 6-9, wherein the apparatus further comprises:
and the correcting unit is used for correcting the frequency measurement information of the frequency measurement satellite to the ground radiation source by using the estimated frequency measurement deviation value, obtaining and outputting the corrected frequency measurement information.
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| CN111669224B (en) * | 2020-06-02 | 2021-09-07 | 武汉光谷航天三江激光产业技术研究院有限公司 | Inter-satellite laser communication aiming deviation on-orbit measurement and correction method |
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| CN113433573B (en) * | 2021-06-03 | 2023-06-02 | 中国电子科技集团公司第三十六研究所 | Method and device for positioning radiation sources by multiple satellites in combined mode and electronic equipment |
| CN113359165B (en) * | 2021-06-03 | 2023-03-31 | 中国电子科技集团公司第三十六研究所 | Method and device for jointly positioning radiation sources by multiple satellites and electronic equipment |
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