CN108761386A - A kind of communication and navigation integration differential pulse localization method based on X-ray - Google Patents
A kind of communication and navigation integration differential pulse localization method based on X-ray Download PDFInfo
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- CN108761386A CN108761386A CN201810508919.XA CN201810508919A CN108761386A CN 108761386 A CN108761386 A CN 108761386A CN 201810508919 A CN201810508919 A CN 201810508919A CN 108761386 A CN108761386 A CN 108761386A
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
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Abstract
A kind of communication and navigation integration differential pulse localization method based on X-ray, accurately measures Earth's orbit repeater satellite location information by ground survey equipment first, the accurate phase of the positional information calculation phase evolution model is used in combination；Repeater satellite receives pulsar signal and obtains moonscope phase information simultaneously, calculates the phase difference between measured value and actual value；Then the phase difference and the distance between the relay satellite measured using X-ray equipment and detector information are sent to detector by communication link；Detector utilizes phase difference correction own phase observed quantity, realizes the raising of navigation performance.The present invention corrects error amount transmission by forming special signal frame structure by frame coded sequence, frame synchronization sequence and communication data to realize.The present invention is using range information and Pulsar timing observation data between adaptive differential Kalman filter fusion detection device and repeater satellite, detector's status estimated accuracy higher.
Description
Technical field
The present invention relates to the communication in aerospace applications field and navigation locating methods, and in particular to a kind of logical based on X-ray
The integrated differential pulse localization method of letter navigation.
Background technology
In survey of deep space task, the deep space cruise of spacecraft, circular and fine surfaces of entering the orbit land, and are all proposed to navigation
Increasingly higher demands.Currently, there is still a need for detectors and ground observation platform to establish communication chain for deep space probe orbits controlling etc.
Road.Existing airmanship is that the Angle Position component of information source position is obtained by very long baseline interferometry(VLBI technology (VLBI), cooperation
Ranging and Doppler range rate measurement realize the dimension navigation of deep space 3.But the technology needs global cloth station, and transmission data is limited, processing time
It is long, and with the increase of distance, communication error increases.
X-ray pulsar navigation technology (XPNAV) is a kind of novel independent navigation mode, essence of navigating in the entire solar system
Degree does not increase with distance and is reduced, and is the following most potential deep space navigation mode.Communication and navigation integration has the advantage that,
Navigation detector and communication detecting device share, and communication and distance measuring signal integration, photon detection realization small-power, high-speed pass
It is defeated, realize that high-precision is navigated using high range accuracy.X-ray communication and navigation integration, can be with smaller size smaller, power consumption, weight
Realize information transmission, and signal transmission non-dispersive, range accuracy higher.
Invention content
In order to solve deficiency in the prior art, the purpose of the present invention is to provide a kind of communication and navigations based on X-ray
Integrated differential pulse localization method is a kind of new energy that (X-ray communication, XCOM) is communicated based on X-ray
Enough while realizing integrated, the high-precision differential pulse localization method of deep space communication navigation；It is accurate using earth repeater satellite
Phase error correct deep space probe pulsar signal measured value, be used in combination adaptive differential Kalman filter fusion arteries and veins
The range information between star timing observation information and relay satellite and deep space probe is rushed, the navigation accuracy of deep space probe is improved.With
Unique signal format realizes communication and ranging in the same channel so that not only takes full advantage of link, also improves link
Efficiency, while saving equipment volume and quality, be conducive to the miniaturization of Space Facilities and integrated.
To achieve the goals above, the present invention adopts the following technical scheme that：
A kind of communication and navigation integration differential pulse localization method based on X-ray, comprises the following steps：
Step 1, the actual phase value for obtaining repeater satellite and observation phase value, i.e., defended by ground location device measuring relaying
Star location information, and convert the location information to the actual phase value under phase evolution model；The is received by repeater satellite
The signal of one pulsar obtains the observation phase value of repeater satellite, calculates the actual phase value and observes the phase between phase value
Potential difference, as correction amount；
Step 2, the correction amount for obtaining step 1, and the repeater satellite obtained using X-ray equipment measurement and detection
The distance between device, together as uplink communication data；
Step 3 generates frame coded sequence and frame synchronization respectively by sequential coding generator and pseudo-random sequence generator
Sequence, the uplink communication data that frame coded sequence, frame synchronization sequence and step 2 are generated carry out signal synthesis, are answered
Frame signal is closed, and is sent from cell site to receiving station after ovennodulation；
Step 4, receiving station are detected and are converted to the compound frame signal received, and corresponding electric signal is obtained；From institute
It states and extracts frame coded sequence and communication data in electric signal, and restore the correction amount and relaying from the communication data
The distance between satellite and detector；
Step 5, detector receive the first pulsar photon signal, measure pulse reach detector and solar system barycenter when
Between it is poor, further obtain the observation phase of detector, then subtract the correction amount that step 4 restores, obtain detector first is seen
Survey phase value；
Step 6 executes step 1~step 5 to the second pulsar, obtains the second observation phase value of detector；
Step 7 merges following information using adaptive differential Kalman filter, obtains the position of detector；The letter
Breath includes：The distance between relay satellite and detector for being measured using X-ray equipment value obtain institute by observing the first pulsar
State the first phase value of detector；And obtain the second observation phase value of the detector by observing the second pulsar.
The detailed process of step 7 is：
S11, detector dynamics of orbits model and observation model are established；
Detector is treated as into particle, in solar system geocentric coordinate system, the dynamics of orbits model of detector is expressed as
In formula：X=[r v]T=[x y z vx vy vz]TIndicate the dynamical state vector of detector；W (t) is system noise
Sound；
In the case of known initial state, integral and calculating is carried out to formula (1), you can obtain detector at any time
Motion model；
First Pulsar timing observation model is：
Y1=g1[X, t]+v1=Δ t1+v1 (2)
In formula：Δt1For different moments pulsar signal from detector reach SSB (Solar System Barycenter,
Solar system barycenter) time delay, v1For the first pulsar measurement noise, it is the white Gaussian noise that mean value is zero, variance
It is determined by pulsar measurement accuracy；
Second Pulsar timing observation model is：
Y2=g2[X, t]+v2=Δ t2+v2 (3)
In formula：Δt2The time delay of SSB, υ are reached from detector for different moments pulsar signal2For the second pulsar
Measurement noise；
X-ray ranging is apart from observation model：
Y3=g3[X, t]+v3=d+v3 (4)
In formula：D is the distance between detector and repeater satellite, υ3For distance measuring noises；
S12, the observational equation based on adaptive differential Kalman filtering is established；
Measurement equation after Multi-information acquisition is：
Y=[Y1 Y2 Y3]T=[Δ t1 Δt2 d]T+V (5)
In formula：V=[v1 v2 v3]T.
To continuous state equation and equation discretization is measured using fourth-order Runge-Kutta method, obtains discrete state equations
With measurement equation：
In formula：xk∈RnFor the state vector of n × 1, wk∈RnFor the process noise random vector of n × 1, yk∈RmIt is m × 1
Observation vector, vk∈RmIt is the measurement noise random vectors of m × 1；
S13, formula (6) iterative filtering is calculated into detector position.
In said program, step 6 can be performed simultaneously with step 1~step 5, can also be executed before step 1, that is, observe
One pulsar and the second pulsar are limited without sequence.
The beneficial effects of the present invention are：
1, using the distinct signal format being made of frame coded sequence, frame synchronization sequence and communication data realize communication and
Ranging, ranging and communication take full advantage of signal bandwidth, do not need additional bandwidth and power is surveyed using with a pair of of link
Away from；
2, the phase measurement error of repeater satellite is sent to deep space probe by communication link, and uses it for correcting
Detector observes pulsar error, improves detector navigation accuracy；
3, due to more small compared to traditional radio frequency or microwave antenna of X-ray detector, and in the present invention,
Ranging shares a set of equipment with communicating, therefore communicates and the required equipment volume smaller of ranging integration, quality be lighter, power consumption
It is lower, therefore be conducive to the miniaturization of the following deep space instrumentation system (DSIS) and integrated.
Description of the drawings
Fig. 1 is the functional block diagram of communication distance measuring integration differential pulse of embodiment of the present invention positioning.
Fig. 2 is the control flow chart of Fig. 1 embodiments.
Fig. 3 is the iterative filtering flow chart of difference sef-adapting filter.
Specific implementation mode
Below with reference to attached drawing, the invention will be further described, it should be noted that the present embodiment is with this technology side
Premised on case, detailed embodiment and specific operating process are given, but protection scope of the present invention is not limited to this reality
Apply example.
As shown in Figure 1 and Figure 2, a kind of communication distance measuring integration differential pulse localization method based on X-ray includes following step
Suddenly：
Step 1, the first observation phase value of detector is obtained by observing the first pulsar；Obtain the reality of repeater satellite
Phase value and observation phase value, i.e., by ground location device measuring repeater satellite location information, and convert the location information to
Actual phase value under phase evolution model；The signal that the first pulsar is received by repeater satellite obtains the observation of repeater satellite
Phase value calculates the actual phase value and observes the phase difference between phase value, as correction amount；
Step 2, phase difference step 1 obtained, and utilize the distance between X-ray measurement relay satellite and detector letter
Breath, together as uplink communication data；
Step 3, frame coded sequence and frame synchronization are generated by sequential coding generator and pseudo-random sequence generator respectively
Sequence, and the uplink communication data that frame coded sequence, frame synchronization sequence and step 2 are generated carries out signal synthesis, obtains
Compound frame signal, and sent from cell site to receiving station after ovennodulation；
Step 4, receiving station is detected and is converted to compound frame signal, obtains corresponding electric signal；It is carried from electric signal
Take out frame coded sequence and the phase difference correction amount in uplink communication data and the distance between relay satellite and detector letter
Breath；
Step 5, detector receives the first pulsar photon signal, measure pulse reach detector and solar system barycenter when
Between it is poor, obtain the observation phase of detector, then subtract the correction amount that step 4 restores, obtain detector first observation phase
Value；
Step 6, the second observation phase value that detector is obtained by observing the second pulsar；
Step 6.1, the actual phase value and observation phase value for obtaining repeater satellite, i.e., relayed by ground location device measuring
Satellite position information, and convert the location information to the actual phase value under phase evolution model；It is received by repeater satellite
The signal of second pulsar obtains the observation phase value of repeater satellite, calculates between the actual phase value and observation phase value
Phase difference, as correction amount；
Step 6.2, phase difference step 6.1 obtained, and utilize the distance between X-ray measurement relay satellite and detector
Information, together as uplink communication data；
Step 6.3, frame coded sequence is generated by sequential coding generator and pseudo-random sequence generator respectively and frame is same
Step sequence, and the uplink communication data that frame coded sequence, frame synchronization sequence and step 6.2 are generated carries out signal synthesis,
Compound frame signal is obtained, and is sent from cell site to receiving station after ovennodulation；
Step 6.4, receiving station is detected and is converted to compound frame signal, obtains corresponding electric signal；From electric signal
Extract phase difference correction amount and the distance between the relay satellite and detector in frame coded sequence and uplink communication data
Information；
Step 6.5, the second pulsar photon signal of detector reception, measurement pulse arrival detector and solar system barycenter
Time difference, the observation phase of detector is obtained, then subtract the correction amount that step 6.4 restores, obtains the second observation of detector
Phase value.
It should be noted that there is no limit can be carried out at the same time, also may be used the sequence of the first pulsar of observation and the second pulsar
It is carried out after one first one.
Step 7 merges following information using adaptive differential Kalman filter, obtains the position of detector；The letter
Breath includes：The distance between relay satellite and detector for being measured using X-ray equipment value obtain institute by observing the first pulsar
State the first phase value of detector；And obtain the second observation phase value of the detector by observing the second pulsar.
Detailed process is：
S11, detector dynamics of orbits model and observation model are established；
Detector is treated as into particle, in solar system geocentric coordinate system, the dynamics of orbits model of detector is expressed as
In formula：X=[r v]T=[x y z vx vy vz]TIndicate the dynamical state vector of detector；W (t) is system noise
Sound；
In the case of known initial state, integral and calculating is carried out to formula (1), you can obtain detector at any time
Motion model；
First Pulsar timing observation model is：
Y1=g1[X, t]+v1=Δ t1+v1 (2)
In formula：Δt1The time delay of SSB, v are reached from detector for different moments pulsar signal1For the first pulsar
Measurement noise, it is the white Gaussian noise that mean value is zero, and variance is determined by pulsar measurement accuracy；
Second Pulsar timing observation model is：
Y2=g2[X, t]+v2=Δ t2+v2 (3)
In formula：Δt2The time delay of SSB, v are reached from detector for different moments pulsar signal2For the second pulsar
Measurement noise；
X-ray ranging is apart from observation model：
Y3=g3[X, t]+v3=d+v3 (4)
In formula：D is the distance between detector and repeater satellite, v3For distance measuring noises；
S12, the observational equation based on adaptive differential Kalman filtering is established；
Measurement equation after Multi-information acquisition is：
Y=[Y1 Y2 Y3]T=[Δ t1 Δt2 d]T+V (5)
In formula：V=[v1 v2 v3]T.
To continuous state equation and equation discretization is measured using fourth-order Runge-Kutta method, obtains discrete state equations
xkWith measurement equation yk：
In formula：xk∈RnFor the state vector of n × 1, wk∈RnFor the process noise random vector of n × 1, yk∈RmIt is m × 1
Observation vector, vk∈RmIt is the measurement noise random vectors of m × 1；
S13, formula (6) iterative filtering is calculated into detector position, as shown in figure 3, difference sef-adapting filter
The iterative filtering process of (Adaptive Divided Difference Filter, ADDF) is：Initialization filter ginseng first
Number, then to state equation xkTime update is carried out, to measuring equation ykUpdate is measured, process noise covariance carries out certainly
It adapts to, then to carry out the update of new round time, measurement updaue, covariance adaptive, so recycles, until reaching filter set in advance
Wave number, the x finally exportedkThe as position of detector.
For those skilled in the art, it can provide and various change accordingly according to above technical scheme and design
Become and deforms, and all these change and distortions should be construed as being included within the protection domain of the claims in the present invention.
Claims (2)
1. a kind of communication and navigation integration differential pulse localization method based on X-ray, which is characterized in that comprise the following steps：
Step 1, the actual phase value for obtaining repeater satellite and observation phase value, i.e., by ground location device measuring repeater satellite position
Confidence ceases, and converts the location information to the actual phase value under phase evolution model；The first arteries and veins is received by repeater satellite
The signal for rushing star obtains the observation phase value of repeater satellite, calculates the actual phase value and observes the phase between phase value
Difference, as correction amount；
Step 2, the correction amount for obtaining step 1, and the repeater satellite and detector that are obtained using X-ray equipment measurement it
Between distance, together as uplink communication data；
Step 3 generates frame coded sequence and frame synchronization sequence respectively by sequential coding generator and pseudo-random sequence generator,
The uplink communication data that frame coded sequence, frame synchronization sequence and step 2 are generated carries out signal synthesis, obtains compound frame letter
Number, and sent from cell site to receiving station after ovennodulation；
Step 4, receiving station are detected and are converted to the compound frame signal received, and corresponding electric signal is obtained；From the electricity
Frame coded sequence and communication data are extracted in signal, and the correction amount and repeater satellite are restored from the communication data
The distance between detector；
Step 5, detector receive the first pulsar photon signal, measure the time that pulse reaches detector and solar system barycenter
Difference, further obtains the observation phase of detector, then subtracts the correction amount that step 4 restores, and obtains the first observation of detector
Phase value；
Step 6 executes step 1~step 5 to the second pulsar, obtains the second observation phase value of detector；
Step 7 merges following information using adaptive differential Kalman filter, obtains the position of detector；Described information packet
It includes：The distance between relay satellite and detector for being measured using X-ray equipment value obtain the spy by observing the first pulsar
Survey the first phase value of device；And obtain the second observation phase value of the detector by observing the second pulsar.
2. a kind of communication and navigation integration differential pulse localization method based on X-ray according to claim 1, feature
It is, the detailed process of step 7 is：
S11, detector dynamics of orbits model and observation model are established；
Detector is treated as into particle, in solar system geocentric coordinate system, the dynamics of orbits model of detector is expressed as
In formula：X=[r v]T=[x y z vx vy vz]TIndicate the dynamical state vector of detector；W (t) is system noise；
In the case of known initial state, integral and calculating is carried out to formula (1), you can obtain the movement of detector at any time
Model；
First Pulsar timing observation model is：
Y1=g1[X, t]+v1=Δ t1+v1 (2)
In formula：Δt1The time delay of solar system barycenter, v are reached from detector for different moments pulsar signal1For the first pulse
Star measurement noise, it is the white Gaussian noise that mean value is zero, and variance is determined by pulsar measurement accuracy；
Second Pulsar timing observation model is：
Y2=g2[X, t]+v2=Δ t2+v2 (3)
In formula：Δt2The time delay of solar system barycenter, v are reached from detector for different moments pulsar signal2For the second pulse
Star measurement noise；
X-ray ranging is apart from observation model：
Y3=g3[X, t]+v3=d+v3 (4)
In formula：D is the distance between detector and repeater satellite, v3For distance measuring noises；
S12, the observational equation based on adaptive differential Kalman filtering is established；
Measurement equation after Multi-information acquisition is：
Y=[Y1 Y2 Y3] T=[Δ t1 Δt2 d]T+V (5)
In formula：V=[v1 v2 v3]T.
To continuous state equation and equation discretization is measured using fourth-order Runge-Kutta method, obtains discrete state equations and survey
Measure equation：
In formula：xk∈RnFor the state vector of n × 1, wk∈RnFor the process noise random vector of n × 1, yk∈RmIt is that m × 1 is observed
Vector, vk∈RmIt is the measurement noise random vectors of m × 1；
S13, formula (6) iterative filtering is calculated into detector position.
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Application publication date: 20181106 |