CN108761505B - Method and system for processing predicted orbit of navigation satellite - Google Patents
Method and system for processing predicted orbit of navigation satellite Download PDFInfo
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Abstract
The invention discloses a method and a system for processing a forecast orbit of a navigation satellite, wherein the method comprises the following steps: acquiring a plurality of forecast orbit arc segments of a navigation satellite, wherein the forecast orbit arc segments comprise a current forecast orbit arc segment and a historical forecast orbit arc segment, and any two adjacent forecast orbit arc segments have an overlapping part; determining a reference orbit of the navigation satellite according to the plurality of forecast orbit arc segments, and calculating the root mean square error of each arc segment in the plurality of forecast orbit arc segments relative to the reference orbit; judging whether the arc sections of the current forecast orbit jump relative to the arc sections of the historical forecast orbit according to the root mean square error of each arc section relative to the reference orbit; and if the jump occurs, the jump repair is carried out on the arc section of the current forecast orbit to obtain the continuous forecast orbit of the navigation satellite. The invention can eliminate the problem of forecasting the track boundary jump and give consideration to the navigation ephemeris broadcasting of high and low tracks, thereby providing real-time high-precision service for users and improving the service performance of a navigation system.
Description
Technical Field
The invention relates to the technical field of satellite navigation, in particular to a method and a system for processing a predicted orbit of a navigation satellite.
Background
Since the official operation of the GPS system in the united states of america at 27/4/1995, the satellite navigation system has been developed vigorously over a period of more than 20 years. The countries and regions in the former soviet union and the subsequent russia, european union, china, japan and india, etc. need to develop respective global or regional satellite navigation positioning systems-GLONASS, Galileo, BDS, QZSS and navic (irnss) one after another for their own strategic safety and economic benefits, etc. And the on-orbit operation of JASON, CHAMP, GOCE, GRACE, domestic oceans, resources, wind and cloud and other low-orbit satellites provides important basic data for scientific researches such as earth gravitational field, atmosphere, oceans, electromagnetism and the like. In fact, the number of high and low orbit satellites of various types of navigation satellites, earth observation satellites, commercial satellites and the like has reached more than one thousand. For the ground users, the more observable satellites are, the more the user selectivity is, so it is a development trend to integrate the existing satellite resources and combine the low-orbit and medium-orbit satellites to form a new constellation. The high, medium and low orbit satellites are combined to be used as the navigation satellite, the satellite visibility number, the availability and the selectivity of a user side are greatly increased, the integrity monitoring of the user is more reliable due to sufficient satellite observation values, the problem satellite identification is facilitated, the availability, the continuity, the stability and the accuracy of the system navigation positioning service are further improved, and the product use experience of the user can be greatly improved.
The navigation ephemeris is a set of binary codes which are broadcasted to a user by a navigation satellite and reflect the information of the orbit of the satellite in the space, the correction parameters of a satellite clock, the ionospheric delay correction, the health state of the satellite and the like. The monitoring station of the navigation system collects data of the satellite, transmits the collected data to the main control station for processing to obtain satellite forecast orbit and satellite clock correction number, codes information such as the satellite position and clock correction number, and injects the coded information into the navigation satellite by the injection station, and finally the navigation satellite which normally operates in orbit continuously broadcasts the coded information to visible users all day long.
The satellite prediction orbit and the clock error are the most important information in the navigation ephemeris, the precision of the navigation ephemeris is ensured by the continuous updating of the prediction orbit, but the use of the navigation positioning and time service of a user is directly influenced by the existence of jumping between adjacent prediction orbits, the difficulty of the real-time data quality control of the user is increased, the efficiency of the user for resolving a real-time product is influenced, and the user experience of the real-time product is finally influenced. Therefore, the problem of jumping between adjacent forecast tracks is solved, the service and user experience of a navigation system are directly related, and the problem of how to eliminate the boundary jumping of the forecast tracks in the generation of the navigation ephemeris with the combination of the high orbit and the low orbit is very practical. Moreover, different from the navigation ephemeris of the existing medium-high orbit system, the difference of the satellite ephemeris of different orbit heights needs to be considered in the navigation ephemeris of the medium-high orbit fusion, so that the satellite ephemeris of different heights can provide a considerable service level, and based on the difference, the navigation ephemeris of the existing medium-high orbit satellite is taken into consideration, and meanwhile, the ephemeris information of the low orbit satellite is creatively blended, so that the new navigation ephemeris of the medium-low orbit fusion can be compatible with the old ephemeris in data format and satellite position calculation when a user uses the ephemeris, which is a problem to be solved urgently in the navigation system of the future medium-high orbit and low orbit satellite combination.
Disclosure of Invention
In view of the above problems, the invention provides a method and a system for processing a predicted orbit of a navigation satellite, which can eliminate the problem of predicted orbit boundary jump and give consideration to the propagation of a navigation ephemeris in a middle-high orbit and a low orbit, thereby providing a real-time high-precision service for a user and improving the service performance of a navigation system.
In one aspect of the present invention, a method for processing a predicted orbit of a navigation satellite is provided, which includes:
acquiring a plurality of forecast orbit arc segments of a navigation satellite, wherein the plurality of forecast orbit arc segments comprise a current forecast orbit arc segment and a historical forecast orbit arc segment, and any two adjacent forecast orbit arc segments in the plurality of forecast orbit arc segments have an overlapping part;
determining a reference orbit of the navigation satellite according to the plurality of forecast orbit arc segments, and calculating a root mean square error of each arc segment in the plurality of forecast orbit arc segments relative to the reference orbit;
judging whether the arc sections of the current forecast orbit jump relative to the arc sections of the historical forecast orbit according to the root mean square error of each arc section relative to the reference orbit;
and if the current forecast orbit arc segment jumps relative to the historical forecast orbit arc segment, jumping and repairing the current forecast orbit arc segment to obtain the continuous forecast orbit of the navigation satellite.
Optionally, after obtaining the continuously predicted orbit of the navigation satellite, the method further comprises:
fitting the continuous forecasting orbit after jump repairing according to preset fitting parameters to obtain ephemeris fitting parameters;
and broadcasting the ephemeris fitting parameters.
Optionally, before the fitting the continuous prediction track after jump repairing according to the preset fitting parameters, the method further includes:
and selecting the number and the content of fitting parameters according to the orbit height of the navigation satellite.
Optionally, the determining a reference orbit of the navigation satellite according to the plurality of forecast orbit arc segments, and calculating a root mean square error of each arc segment of the plurality of forecast orbit arc segments with respect to the reference orbit includes:
obtaining an average orbit of the plurality of forecast orbit arc segments;
taking the average orbit as a reference orbit of the navigation satellite, and establishing a similarity transformation observation model according to the plurality of forecast orbit arc segments and the reference orbit;
and calculating the root mean square error of each arc section in the plurality of forecast orbit arc sections relative to the reference orbit according to the similarity transformation observation model.
Optionally, the determining, according to the root mean square error of each arc segment relative to the reference orbit, whether the arc segment of the current forecast orbit jumps relative to the arc segment of the historical forecast orbit includes:
judging whether the arc sections of the current forecast orbit are outlier relative to the arc sections of the historical forecast orbit according to the root mean square error of each arc section relative to the reference orbit by adopting a gross error positioning method;
and if the current forecast orbit arc segment is outlier, determining that the current forecast orbit arc segment jumps relative to the historical forecast orbit arc segment.
Optionally, the performing jump repair on the current forecast track arc segment includes:
and judging whether the current forecast orbit arc section meets a preset jump repairing condition corresponding to the navigation satellite, if so, performing jump repairing on the current forecast orbit arc section, and otherwise, setting the current forecast orbit arc section to be in an unavailable state.
In another aspect of the present invention, a system for processing predicted orbit of a navigation satellite is provided, which includes:
the system comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring a plurality of forecast orbit arc segments of a navigation satellite, the plurality of forecast orbit arc segments comprise a current forecast orbit arc segment and a historical forecast orbit arc segment, and any two adjacent forecast orbit arc segments in the plurality of forecast orbit arc segments have an overlapping part;
the calculation unit is used for determining a reference orbit of the navigation satellite according to the plurality of forecast orbit arc segments and calculating the root mean square error of each arc segment in the plurality of forecast orbit arc segments relative to the reference orbit;
the judging unit is used for judging whether the arc sections of the current forecast orbit jump relative to the arc sections of the historical forecast orbit according to the root mean square error of each arc section relative to the reference orbit;
and the splicing unit is used for carrying out jump repair on the current forecast orbit arc segment when the current forecast orbit arc segment jumps relative to the historical forecast orbit arc segment so as to obtain the continuous forecast orbit of the navigation satellite.
Optionally, the system further comprises:
the fitting unit is used for fitting the continuously predicted orbit after jump repair according to preset fitting parameters after the continuously predicted orbit of the navigation satellite is obtained, so as to obtain ephemeris fitting parameters;
and the communication unit is used for broadcasting the ephemeris fitting parameters.
Optionally, the system further comprises:
and the configuration unit is used for selecting the number and the content of the fitting parameters according to the orbit height of the navigation satellite before fitting the continuously-forecasted orbit after jump repair according to preset fitting parameters.
Optionally, the computing unit includes:
the acquisition module is used for acquiring the average orbit of the plurality of forecast orbit arc segments;
the model establishing module is used for taking the average orbit as a reference orbit of the navigation satellite and establishing a similar transformation observation model according to the plurality of forecast orbit arc sections and the reference orbit;
and the calculation module is used for calculating the root mean square error of each arc section in the plurality of forecast orbit arc sections relative to the reference orbit according to the similarity transformation observation model.
Optionally, the determining unit is specifically configured to determine, by using a rough error positioning method, whether the arc segment of the current forecast track is outlier with respect to the arc segment of the historical forecast track according to the root mean square error of each arc segment with respect to the reference track, and if the arc segment of the current forecast track is outlier, determine that the arc segment of the current forecast track jumps with respect to the arc segment of the historical forecast track.
Optionally, the splicing unit includes:
the judging module is used for judging whether the current forecast orbit arc section meets a preset jump repairing condition corresponding to the navigation satellite;
the splicing processing module is used for carrying out jump repair on the current forecast orbit arc segment when the judgment result of the judgment module is that the current forecast orbit arc segment meets the preset jump repair condition corresponding to the navigation satellite; otherwise, setting the current forecast track arc segment to be in an unavailable state.
According to the processing method and the system for the predicted orbit of the navigation satellite, provided by the embodiment of the invention, the jump repair is carried out on the jump-occurred predicted orbit arc section by utilizing the overlapping parts among a plurality of predicted orbit arc sections of different navigation satellites, so that the continuous predicted orbit of the corresponding navigation satellite is obtained, the problem of the jump of the predicted orbit boundary can be eliminated, and the realization of the navigation ephemeris of high and low orbits can be considered, so that the real-time high-precision service is provided for users, and the service performance of a navigation system is improved.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a flowchart of a method for processing predicted orbits of navigation satellites according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a data processing principle for implementing the forecast track arc segment splicing repair in the embodiment of the present invention;
FIG. 3 is a flowchart of another method for predicting an orbit of a navigation satellite according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a satellite predicted orbit fitting principle according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a system for processing predicted orbits of a navigation satellite according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of another processing system for predicting an orbit of a navigation satellite according to an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The invention is mainly provided aiming at the navigation ephemeris with middle and low orbit fusion, integrates the ideas of 'integral control' and 'local regulation', is applied to the solution of the problem of forecasting orbit boundary jump, creatively provides the navigation ephemeris aiming at low orbit satellites on the basis of comprehensively analyzing and investigating the existing middle and high orbit navigation ephemeris, and the new navigation ephemeris gives consideration to the middle and low orbit satellites, so that a user can conveniently realize the transition from the existing navigation ephemeris to the new navigation ephemeris.
Fig. 1 schematically shows a flow chart of a processing method for predicting an orbit by a navigation satellite according to an embodiment of the present invention. Referring to fig. 1, the method for processing a predicted orbit of a navigation satellite according to the embodiment of the present invention specifically includes the following steps:
s11, obtaining a plurality of forecast orbit arc segments of the navigation satellite, wherein the plurality of forecast orbit arc segments comprise a current forecast orbit arc segment and a historical forecast orbit arc segment, and any two adjacent forecast orbit arc segments in the plurality of forecast orbit arc segments have an overlapping part.
Specifically, according to the difference of the satellite orbit heights of the navigation satellite, different numbers of forecast orbit arc sections can be flexibly selected. Assuming that the total number of the selected arc segments is N, recording the total number as follows according to the time sequence: n-1, N, each arc segment has an overlap with the adjacent front and back arc segments, with the exception of the first and last.
In the embodiment, the track splicing algorithm can be effectively adopted only based on the fact that the overlapped parts exist among the forecast arc segments. It will be appreciated that in practice this condition is very easy to satisfy, and in practice it is only necessary to set the arc length of each forecasted track arc to a specified requirement.
S12, determining the reference orbit of the navigation satellite according to the plurality of forecast orbit arc segments, and calculating the root mean square error of each arc segment in the plurality of forecast orbit arc segments relative to the reference orbit.
And S13, judging whether the arc segment of the current forecast orbit jumps relative to the arc segment of the historical forecast orbit according to the root mean square error of each arc segment relative to the reference orbit.
And S14, if the current forecast orbit arc segment jumps relative to the historical forecast orbit arc segment, jumping and repairing the current forecast orbit arc segment to obtain the continuous forecast orbit of the navigation satellite.
In this embodiment, after it is determined that the current forecast track arc segment jumps relative to the historical forecast track arc segment, the jump with the jump degree smaller than the preset threshold value is repaired by calculating the size of the jump of the boundary of the current forecast track arc segment. Referring to fig. 2, fig. 2 is a schematic diagram of a data processing principle for implementing the forecast track arc segment splicing repair in the embodiment of the present invention.
According to the processing method for the predicted orbit of the navigation satellite, provided by the embodiment of the invention, the jump repair is carried out on the jump-occurred predicted orbit arc section by utilizing the overlapping parts among the plurality of predicted orbit arc sections of different navigation satellites, so that the continuous predicted orbit of the corresponding navigation satellite is obtained, the problem of the jump of the predicted orbit boundary can be eliminated, and the realization of the navigation ephemeris of middle and low orbits can be considered, so that the real-time high-precision service is provided for users, and the service performance of a navigation system is improved.
In an embodiment of the present invention, the determining a reference orbit of the navigation satellite according to the plurality of forecast orbit arc segments and calculating a root mean square error of each arc segment of the plurality of forecast orbit arc segments relative to the reference orbit includes:
obtaining an average orbit of the plurality of forecast orbit arc segments;
taking the average orbit as a reference orbit of the navigation satellite, and establishing a similarity transformation observation model according to the plurality of forecast orbit arc segments and the reference orbit, wherein the specific observation model is as follows;
wherein,
a reference track is indicated which is,
representing an arc segment i track
The translation parameters of the arc segment i are represented,
the rotation parameters of the arc segment i are represented,
representing the scale parameter of arc segment i.
And calculating the root mean square error of each arc section in the plurality of forecast orbit arc sections relative to the reference orbit according to the similarity transformation observation model.
In the step, a normal equation is formed according to the similarity transformation observation model, and then transformation parameters are solved, and finally the root mean square error of each arc section relative to the reference orbit is obtained.
In this embodiment, the determining whether the arc segment of the current forecast track jumps relative to the arc segment of the historical forecast track according to the root mean square error of each arc segment relative to the reference track includes:
judging whether the arc sections of the current forecast orbit are outlier relative to the arc sections of the historical forecast orbit according to the root mean square error of each arc section relative to the reference orbit by adopting a gross error positioning method; and if the current forecast orbit arc segment is outlier, determining that the current forecast orbit arc segment jumps relative to the historical forecast orbit arc segment.
Further, in this embodiment, the performing jump repair on the currently forecasted track arc segment includes: and judging whether the current forecast orbit arc section meets a preset jump repairing condition corresponding to the navigation satellite, if so, performing jump repairing on the current forecast orbit arc section, and otherwise, setting the current forecast orbit arc section to be in an unavailable state.
In the embodiment of the invention, whether the overall precision of the arc segment of the current forecast orbit and the arc segment of the previous forecast orbit is outlier is judged by a Baarda rough error positioning method according to the root mean square error of all the arc segments of each satellite, and if the overall precision of the arc segment of the current forecast orbit and the arc segment of the previous forecast orbit is outlier, the arc segment of the current forecast orbit is determined to jump relative to the arc segment of the historical forecast orbit. And then in subsequent processing, selecting a power function related to the time interval of the track boundary moment, and determining whether to carry out jump repair on the current forecast arc segment, wherein a specific jump repair formula is as follows:
dt＝ti-tobs
wherein, tobsIndicating track boundary time, tiRepresenting the valid forecast arc segment satellite position node time,
respectively representing the positions of the current forecast arc segment and the last arc segment at the track boundary, and n is the power function base number.
Respectively representing the current forecast arc segment orbit and the repaired forecast orbit arc segment.
In an alternative embodiment of the present invention, as shown in fig. 3, after obtaining the continuously predicted orbit of the navigation satellite, the method further comprises the following steps:
and S15, fitting the continuous prediction orbit after jump repair according to preset fitting parameters to obtain ephemeris fitting parameters.
Before the fitting the continuous prediction track after jump repairing according to the preset fitting parameters, the method further comprises: and selecting the number and the content of fitting parameters according to the orbit height of the navigation satellite. Specifically, different numbers of ephemeris parameters are fitted for the medium and low orbit satellites with different orbital heights, 16 parameters are selected for fitting the position of the medium and low orbit satellites, and four fitting parameters are additionally added on the basis of 16 parameters for the low orbit satellites to fit the position of the low orbit satellites, as shown in fig. 4. And repeating all the satellites until the ephemeris fitting parameters of all the satellites are calculated.
In one particular embodiment, the fitting function may be expressed as:
wherein,
and
respectively representing the satellite forecast position and the velocity vector, wherein the meaning of each symbol in the right formula is specifically shown in a table 1; the satellite position velocity and orbit root relation is as follows:
M(t)＝E(t)-esinE(t)
w＝u-ν
wherein (x, y, z) are satellite coordinate components,
the method is characterized in that the method is a satellite velocity component, a is a satellite orbit long semi-axis, n is a flat motion angular velocity, p is a radius, E is a deviation near point angle, u is a latitude amplitude angle, v is a true near point angle, and other symbolic meanings are specifically shown in a table 1.
In the 16-parameter broadcast ephemeris for the medium and high orbit satellite, the perturbation term formula for calculating the orbit major semi-axis, the average motion angular velocity and the elevation angle is as follows:
u＝Cuccos2u+Cussin2u
for a low-orbit satellite, in a newly designed 16+4 parameter broadcast ephemeris, a perturbation term formula of a long half-axis variability, an average motion angular velocity variability parameter and two ascending-crossing angles which are added more is as follows:
u＝Cuccos2u+Cussin2u+Cuc2cos6u+Cus2sin6u
TABLE 1 fitting parameter meaning comparison Table
And S16, broadcasting the ephemeris fitting parameters.
In the above mentioned continuous splicing and broadcasting algorithm for high and low orbit fusion navigation ephemeris, it is assumed that there is an overlapping part between each prediction arc segment, and only then the orbit splicing algorithm can be effectively adopted. In practice, this condition is very easy to satisfy, and in practice, the arc length of each forecast arc segment only needs to be set as a specified requirement. In addition, the number of the fitting parameters of the low-orbit satellite is set to 20, 4 spare data records in the existing navigation ephemeris can be fully utilized, the format of the existing navigation ephemeris does not need to be modified, and the method is very convenient and practical for users.
According to the embodiment of the invention, a plurality of forecasting arc segments are adopted, the overlapping parts of the arc segments are fully utilized, the problem arc segments are reliably identified, and a reference basis is provided for whether jump repair is needed or not; by adopting comparison of a plurality of arc sections, not only can the stability of a frame for forecasting the arc sections for a long time be maintained, but also the track boundary jump can be well repaired, and the continuous splicing of the tracks is realized; aiming at the forecast orbit error rule of the low-orbit satellite, a harmonic correction coefficient of one third of a rising point is creatively increased, and the fitting arc length is flexibly adjusted, so that the forecast precision of the fitted low-orbit satellite meets the specified requirement; the navigation ephemeris format suitable for the middle and high orbit (GPS, BDS, Galileo and QZSS) is fully considered, and the realization of the compatible middle and high orbit satellite navigation ephemeris can be met only by adding additional 4 fitting parameters.
For simplicity of explanation, the method embodiments are described as a series of acts or combinations, but those skilled in the art will appreciate that the embodiments are not limited by the order of acts described, as some steps may occur in other orders or concurrently with other steps in accordance with the embodiments of the invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Fig. 5 is a schematic structural diagram of a processing system for predicting an orbit of a navigation satellite according to an embodiment of the present invention. Referring to fig. 5, the system for processing a predicted orbit of a navigation satellite according to the embodiment of the present invention specifically includes an obtaining unit 501, a calculating unit 502, a determining unit 503, and a splicing unit 504, where the obtaining unit 501 is configured to obtain a plurality of predicted orbit arc segments of the navigation satellite, where the plurality of predicted orbit arc segments include a current predicted orbit arc segment and a historical predicted orbit arc segment, and any two adjacent predicted orbit arc segments in the plurality of predicted orbit arc segments have an overlapping portion therebetween; a calculating unit 502, configured to determine a reference orbit of the navigation satellite according to the plurality of forecast orbit arc segments, and calculate a root mean square error of each arc segment of the plurality of forecast orbit arc segments relative to the reference orbit; a judging unit 503, configured to judge whether the arc segment of the current forecast track jumps relative to the arc segment of the historical forecast track according to a root mean square error of each arc segment relative to the reference track; and the splicing unit 504 is configured to perform jump repair on the current forecast orbit arc segment when the current forecast orbit arc segment jumps relative to the historical forecast orbit arc segment, so as to obtain a continuously forecast orbit of the navigation satellite.
According to the processing system for the predicted orbit of the navigation satellite, provided by the embodiment of the invention, the jump repair is carried out on the jump-occurred predicted orbit arc section by utilizing the overlapping parts among the plurality of predicted orbit arc sections of different navigation satellites, so that the continuous predicted orbit of the corresponding navigation satellite is obtained, the problem of the jump of the predicted orbit boundary can be eliminated, and the realization of the navigation ephemeris of high and low orbits can be considered, so that the real-time high-precision service is provided for users, and the service performance of a navigation system is improved.
In an alternative embodiment, as shown in fig. 6, the system further comprises a fitting unit 505 and a communication unit 506, wherein: the fitting unit 505 is configured to, after obtaining a continuously predicted orbit of a navigation satellite, fit the continuously predicted orbit after the jump repair according to preset fitting parameters to obtain ephemeris fitting parameters; the communication unit 506 is configured to broadcast the ephemeris fitting parameters.
In the embodiment of the invention, based on the existence of the overlapping part between the forecasting arc sections, the orbit (including the current forecasting arc section) of the plurality of the preceding forecasting arc sections is utilized, a similar transformation equation is established for the overlapping part, the current forecasting arc section is subjected to overall quality control according to the root mean square error after adjustment, the current forecasting arc section is corrected by utilizing the jump value of the orbit boundary, and the forecasting orbit after the jump is repaired is fitted (different numbers of fitting parameters are selected according to different orbit heights) to obtain the broadcast ephemeris fitting parameters.
In an alternative embodiment, the system further comprises a configuration unit, not shown in the drawings, configured to select the number and content of the fitting parameters according to the orbit height of the navigation satellite before fitting the continuously predicted orbit after the jump repair according to preset fitting parameters.
In an optional embodiment, the computing unit includes an obtaining module, a model building module, and a computing module, wherein: the acquisition module is used for acquiring the average orbit of the plurality of forecast orbit arc segments; the model establishing module is used for taking the average orbit as a reference orbit of the navigation satellite and establishing a similar transformation observation model according to the plurality of forecast orbit arc sections and the reference orbit; the calculation module is used for calculating the root mean square error of each arc section in the plurality of forecast orbit arc sections relative to the reference orbit according to the similarity transformation observation model.
In an optional embodiment, the determining unit is specifically configured to determine, by using a rough error positioning method, whether the arc segment of the current forecast track is outlier with respect to the arc segment of the historical forecast track according to a root mean square error of each arc segment with respect to the reference track, and if the arc segment of the current forecast track is outlier, determine that the arc segment of the current forecast track is jumped with respect to the arc segment of the historical forecast track.
Further, the splicing unit comprises a judging module and a splicing processing module, wherein the judging module is used for judging whether the current forecast orbit arc segment meets a preset jump repairing condition corresponding to the navigation satellite; the splicing processing module is used for performing jump repair on the current forecast orbit arc segment when the judgment result of the judgment module is that the current forecast orbit arc segment meets the preset jump repair condition corresponding to the navigation satellite; otherwise, setting the current forecast track arc segment to be in an unavailable state.
For the system embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
According to the processing method and the system for the predicted orbit of the navigation satellite, provided by the embodiment of the invention, the jump repair is carried out on the jump-occurred predicted orbit arc section by utilizing the overlapping parts among a plurality of predicted orbit arc sections of different navigation satellites, so that the continuous predicted orbit of the corresponding navigation satellite is obtained, the problem of the jump of the predicted orbit boundary can be eliminated, and the realization of the navigation ephemeris of high and low orbits can be considered, so that the real-time high-precision service is provided for users, and the service performance of a navigation system is improved.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Furthermore, those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for processing a predicted orbit of a navigation satellite is characterized by comprising the following steps:
acquiring a plurality of forecast orbit arc segments of a navigation satellite, wherein the plurality of forecast orbit arc segments comprise a current forecast orbit arc segment and a historical forecast orbit arc segment, and any two adjacent forecast orbit arc segments in the plurality of forecast orbit arc segments have an overlapping part;
determining a reference orbit of the navigation satellite according to the plurality of forecast orbit arc segments, and calculating a root mean square error of each arc segment in the plurality of forecast orbit arc segments relative to the reference orbit;
judging whether the arc sections of the current forecast orbit jump relative to the arc sections of the historical forecast orbit according to the root mean square error of each arc section relative to the reference orbit;
if the current forecast orbit arc segment jumps relative to the historical forecast orbit arc segment, jumping repair is carried out on the current forecast orbit arc segment to obtain a continuous forecast orbit of the navigation satellite;
wherein the determining a reference orbit of the navigation satellite according to the plurality of forecast orbit arc segments and calculating a root mean square error of each arc segment of the plurality of forecast orbit arc segments relative to the reference orbit comprises:
obtaining an average orbit of the plurality of forecast orbit arc segments;
taking the average orbit as a reference orbit of the navigation satellite, and establishing a similarity transformation observation model according to the plurality of forecast orbit arc sections and the reference orbit, wherein the specific similarity transformation observation model is as follows;
wherein,
a reference track is indicated which is,
the arc segment i of the track is shown,
the translation parameters of the arc segment i are represented,
the rotation parameters of the arc segment i are represented,
a scale parameter representing arc segment i;
and calculating the root mean square error of each arc section in the plurality of forecast orbit arc sections relative to the reference orbit according to the similarity transformation observation model.
2. The method of claim 1, wherein after said obtaining the continuously predicted orbit of the navigation satellite, the method further comprises:
fitting the continuous forecasting orbit after jump repairing according to preset fitting parameters to obtain ephemeris fitting parameters;
and broadcasting the ephemeris fitting parameters.
3. The method according to claim 2, wherein before said fitting the continuous forecast trajectory after jump repair according to preset fitting parameters, the method further comprises:
and selecting the number and the content of fitting parameters according to the orbit height of the navigation satellite.
4. The method according to any one of claims 1-3, wherein said determining whether the current forecast orbit arc segment jumps with respect to the historical forecast orbit arc segment according to the root mean square error of each arc segment with respect to the reference orbit comprises:
judging whether the arc sections of the current forecast orbit are outlier relative to the arc sections of the historical forecast orbit according to the root mean square error of each arc section relative to the reference orbit by adopting a gross error positioning method;
and if the current forecast orbit arc segment is outlier, determining that the current forecast orbit arc segment jumps relative to the historical forecast orbit arc segment.
5. The method of claim 4, wherein said jump repairing said current forecast track arc segment comprises:
and judging whether the current forecast orbit arc section meets a preset jump repairing condition corresponding to the navigation satellite, if so, performing jump repairing on the current forecast orbit arc section, and otherwise, setting the current forecast orbit arc section to be in an unavailable state.
6. A system for processing predicted orbits of a navigation satellite, comprising:
the system comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring a plurality of forecast orbit arc segments of a navigation satellite, the plurality of forecast orbit arc segments comprise a current forecast orbit arc segment and a historical forecast orbit arc segment, and any two adjacent forecast orbit arc segments in the plurality of forecast orbit arc segments have an overlapping part;
the calculation unit is used for determining a reference orbit of the navigation satellite according to the plurality of forecast orbit arc segments and calculating the root mean square error of each arc segment in the plurality of forecast orbit arc segments relative to the reference orbit;
the judging unit is used for judging whether the arc sections of the current forecast orbit jump relative to the arc sections of the historical forecast orbit according to the root mean square error of each arc section relative to the reference orbit;
the splicing unit is used for carrying out jump repair on the current forecast orbit arc segment when the current forecast orbit arc segment jumps relative to the historical forecast orbit arc segment to obtain a continuous forecast orbit of the navigation satellite;
the calculation unit includes:
the acquisition module is used for acquiring the average orbit of the plurality of forecast orbit arc segments;
the model establishing module is used for taking the average orbit as a reference orbit of the navigation satellite and establishing a similar transformation observation model according to the plurality of forecast orbit arc sections and the reference orbit, wherein the specific similar transformation observation model is as follows;
wherein,
a reference track is indicated which is,
the arc segment i of the track is shown,
the translation parameters of the arc segment i are represented,
the rotation parameters of the arc segment i are represented,
a scale parameter representing arc segment i;
and the calculation module is used for calculating the root mean square error of each arc section in the plurality of forecast orbit arc sections relative to the reference orbit according to the similarity transformation observation model.
7. The system of claim 6, further comprising:
the fitting unit is used for fitting the continuously predicted orbit after jump repair according to preset fitting parameters after the continuously predicted orbit of the navigation satellite is obtained, so as to obtain ephemeris fitting parameters;
and the communication unit is used for broadcasting the ephemeris fitting parameters.
8. The system of claim 7, further comprising:
and the configuration unit is used for selecting the number and the content of the fitting parameters according to the orbit height of the navigation satellite before fitting the continuously-forecasted orbit after jump repair according to preset fitting parameters.
9. The system according to any one of claims 7 to 8, wherein the determining unit is specifically configured to determine whether the arc segment of the current forecast track is outlier with respect to the arc segment of the historical forecast track according to a root mean square error of each arc segment with respect to the reference track by using a rough error positioning method, and if the arc segment of the current forecast track is outlier, determine that the arc segment of the current forecast track is hopped with respect to the arc segment of the historical forecast track.
10. The system of claim 9, wherein the splicing unit comprises:
the judging module is used for judging whether the current forecast orbit arc section meets a preset jump repairing condition corresponding to the navigation satellite;
the splicing processing module is used for carrying out jump repair on the current forecast orbit arc segment when the judgment result of the judgment module is that the current forecast orbit arc segment meets the preset jump repair condition corresponding to the navigation satellite; otherwise, setting the current forecast track arc segment to be in an unavailable state.
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