CN109283556A - A kind of low rail navigation satellite clock adjusting method not interrupting navigation Service - Google Patents
A kind of low rail navigation satellite clock adjusting method not interrupting navigation Service Download PDFInfo
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- CN109283556A CN109283556A CN201811068456.6A CN201811068456A CN109283556A CN 109283556 A CN109283556 A CN 109283556A CN 201811068456 A CN201811068456 A CN 201811068456A CN 109283556 A CN109283556 A CN 109283556A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/256—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to timing, e.g. time of week, code phase, timing offset
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- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Electric Clocks (AREA)
Abstract
The present invention provides the low orbit satellite clock adjusting methods that one kind does not interrupt navigation Service, include the following steps: low orbit satellite according to spaceborne high-precision navigation neceiver clock deviation monitoring result, previous existence is transfinited at the first clock adjustment instruction, wherein the first clock adjustment instruction includes t1 and the frequency quantity for needing to adjust at the time of adjusting satellite clock in clock deviation；And the frequency term in moment t1 adjustment satellite clock, to change satellite clock correction drift bearing；And receiver user calculates satellite clock correction using star clock parameter, frequency modulation moment, chirp parameter.In this way, can reduce or even avoid satellite to stop the time of service because carrying out time adjustment, while sufficiently accurate satellite time is provided, to more effectively provide navigation Service for user, improved service quality and user experience.
Description
Technical field
Present invention is generally directed to navigation satellite time-align techniques, do not interrupt navigation Service in particular to one kind
Low rail navigation satellite clock adjusting method.
Background technique
Global Navigation Satellite System (GNSS) carries high-precision satellite atomic clock to maintain navigation satellite frequency reference, and
Satellite time is generated by the time frequency system.Navigation satellite generates navigation signal based on the temporal frequency generated by the time frequency system, with
Realize positioning time service service.The spaceborne atomic clock of navigation satellite and the time frequency system are that navigation system provides high accuracy positioning time service clothes
The key of business.
Traditional GNSS system belongs to national time-frequency system infrastructure, and navigation satellite platform is big, therefore to atomic clock
And the power consumption of the time frequency system, volume, the requirement of cost are relatively low, the general high-precision such as carrying rubidium atomic clock, hydrogen atomic clock
Atomic clock, frequency stability is 10-15To 10-14S/d magnitude, so that navigation satellite time reference drift velocity is slower, very
Time reference need not be adjusted in long a period of time.Such as GPS system, satellite atomic clock about half a year need to just adjust one
Secondary, causing the urban satellite navigation service break period every time is about one day.In addition, GNSS system number of satellite generally only has tens,
The probability that system-satellite needs to carry out time adjustment is smaller, and there is backup satellite, and even if in the single satellite short time not
It can use, the influence to navigation system service performance is also limited.
When current GNSS system satellite clock correction transfinites, ground note instruction upper first is unavailable satellite to be set to, and on
Frequency modulation phase modulation instruction is infused, to be adjusted to satellite clock phase, frequency；Then, ground fortune control station carries out again satellite clock correction
Calibration, and be fitted the parameters such as star clock clock deviation, clock rate, clock drift and satellite will be infused thereon；After satellite service performance recovery, infused on ground
Instruction is available satellite to be set to, and provides navigation Service to continue as user.
Over 2014, with the fast development of satellite technology, electronic technology and new material technology, lot of domestic and international enterprise is single
Position is numerous and confused to propose global low orbit satellite navigation augmentation system development plan, such plan, which is sent out, penetrates hundreds of even thousands of low rails
Satellite to form multiple coverage, and broadcasts navigation signals in the world, to provide enhancing service of navigating.It is defended to meet low rail
Star miniaturization, low power consumption, low cost, large capacity application demand, low orbit satellite generally carry low cost miniaturized atomic clocks or
Chip atomic clock, frequency stability is 10-12To 10-13S/d magnitude, two orders of magnitude low compared with navigation satellite satellite atomic clock,
It is relatively fast so as to cause low rail navigation satellite time reference drift velocity, so that low orbit satellite time reference adjustment frequency increases
Add.If chip atomic clock about just needed to adjust once at 1-2 days according to GNSS system time-frequency adjustable strategies, it is bound to cause satellite
The frequent disruption of navigation Service.In addition, low rail navigation enhancing constellation scale is generally large, in several hundred to thousands of satellite amounts
Grade, but also the probability of navigation augmentation system satellite clock adjustment greatly increases.Therefore, traditional time reference adjustment mode will
Cause low rail navigation constellation system frequent progress time adjustment and the urban satellite navigation service to be interrupted, is not suitable for low orbit satellite navigation system
System.
Summary of the invention
From the prior art, the task of the present invention is provide a kind of low orbit satellite clock adjustment for not interrupting navigation Service
Method, in this way, service disruption caused by can reducing or even avoid low orbit satellite to adjust because of the frequent time, provides foot
Enough accurate satellite clock correction forecast informations are improved service quality and user's body to more effectively provide navigation Service for user
It tests.
According to the present invention, which does not interrupt the low orbit satellite clock adjusting method of navigation Service by one kind and solves,
This method includes that low rail navigation satellite star clock adjustable strategies and receiver user resolve satellite clock correction parameter strategy two parts, specifically
Steps are as follows:
(1) steps are as follows for low rail navigation satellite star clock adjustable strategies:
1) low orbit satellite is according to spaceborne high-precision navigation neceiver clock deviation monitoring result, when clock deviation transfinites previous existence at first
Clock adjustment instruction, wherein the first clock adjustment instruction includes satellite clock time adjustment t1And in moment t1Clock frequency
Rate adjustment amount Δ f.
2) in frequency modulation moment t1In the past, satellite was by frequency modulation moment t1, frequency adjustment Δ f caused by rate correction amount Δ a1Connection
Close frequency modulation moment t1Preceding satellite clock correction a0, clock rate a1, clock float a2It is corresponding with the parameter to refer to moment toc1It is broadcast to use together
Family receiver.
3) when satellite is according to this star clock face, in t1Shi Keben star frequency carries out accurate adjustment, and frequency adjustment is Δ f.
4) frequency modulation moment t1Later, spaceborne high-precision navigation neceiver carries out the star clock clock deviation after frequency adjustment real-time
Monitoring calibration, and be fitted and generate new reference moment toc2When satellite clock correction a0, clock rate a1, clock float a2。
5) t after star clock parameter re-scales2Two frequency modulation moment, rate correction amount parameters are taken as by moment, satellite
0, combine the reference moment t of re-calibrationoc2When satellite clock correction a0, clock rate a1, clock float a2It is broadcast to receiver user together.
(2) receiver user resolves satellite clock correction parameter strategy
1) receiver user receives traditional satellite clock correction a of low orbit satellite broadcast0, clock rate a1, clock float a2And above-mentioned parameter
It is corresponding to refer to moment toc, while receiving star clock frequency modulation moment t1With corresponding clock rate adjustment amount Δ a1。
2) receiver user receives navigation signal, t when parsing obtains satellite emission signal clock facet。
3) receiver user uses satellite clock correction parameter reference moment toc, clock deviation a0, clock rate a1, clock float a2, star clock frequency modulation when
Carve t1, clock rate adjustment amount Δ a1Calculate ttMoment navigation satellite clock deviation introduces the frequency modulation moment, clock rate adjustment amount guarantees that user is defending
Star adjust frequency before and after can high precision computation satellite clock correction, and then complete self poisoning time service resolve.
The present invention at least has following the utility model has the advantages that the present invention passes through in time at the scheduled time to the frequency of satellite clock
It is adjusted, so that clock deviation is drifted about in the opposite direction, so that being unlikely to satellite clock correction always is more than threshold value；Meanwhile in frequency
By increasing frequency of use time adjustment and adjusting parameter during adjustment, so that frequency can still be defended during adjusting with high precision computation
Star clock deviation；To during ensure that the adjustment of Satellite clock, without stopping navigation Service；So, it will reduce and even avoid stopping
The time only serviced, while sufficiently accurate satellite time being provided, to more effectively provide navigation Service for user, improve clothes
Quality of being engaged in and user experience.
Detailed description of the invention
With reference to specific embodiment, the present invention is further explained with reference to the accompanying drawing.
Fig. 1 shows the satellite time and frequency standards frequency adjustment timing of embodiment according to the present invention；And
Fig. 2 shows the timing satellite time and frequency standards frequency of embodiment according to the present invention adjustment and re-scaled.
Specific embodiment
It should be pointed out that each component in each attached drawing may be shown in which be exaggerated in order to illustrate, and it is not necessarily ratio
Example is correctly.In the drawings, identical appended drawing reference is equipped with to the identical component of identical or function.
In the present invention, each embodiment is intended only to illustrate the solution of the present invention, and is understood not to restrictive.
In the present invention, unless otherwise indicated, quantifier "one", " one " and the scene for not excluding element.
It is also noted herein that in an embodiment of the present invention, for it is clear, for the sake of simplicity, might show only one
Sub-unit or component, but those skilled in the art are it is understood that under the teachings of the present invention, it can be according to concrete scene
Need to add required component or component.
It is also noted herein that within the scope of the invention, the wording such as " identical ", " equal ", " being equal to " are not meant to
The two numerical value is absolutely equal, but allows certain reasonable error, that is to say, that the wording also contemplated " substantially phase
Together ", " being essentially equal ", " being substantially equal to ".
In addition, the number of the step of each method of the invention limit the method step execute sequence.Unless special
It does not point out, the method step can be executed with different order.
By factor constraints such as power consumption, cost, volumes, low rail navigation satellite generally carries inexpensive miniaturized atomic clocks or core
Piece atomic clock, frequency stability is relatively low, and satellite clock correction drift is very fast.Clock can be shortened by quickly broadcasting navigation message
Difference calls time in advance, reduces the prediction error of clock deviation, improves navigation Service performance.In addition, after the adjustment of satellite time-frequency, star clock parameter hair
Changing can calculate star clock parameter adjusted according to star clock adjustment amount.Then, satellite Autonomous completes Fast Calibration, to reduce
The influence for calculating star clock parameter error, needs the high precision star clock parameter of re-calibration being quickly broadcast to terrestrial user.
To solve the above-mentioned problems, it the basic idea of the invention is that, is monitored in real time by spaceborne high-precision navigation neceiver
The time and frequency standards state of satellite, satellite generate frequency modulation instruction before clock deviation transfinites to change star clock clock deviation drift bearing, make clock
Difference is drifted about round about.Not influence satellite service performance, time and frequency standards frequency adjustment instruction (or clock adjustment instruction) is mentioned
Before (i.e. the error of satellite clock be more than error threshold before) on infuse, frequency is adjusted at the time of satellite is predetermined in instruction
It is whole；Meanwhile star clock frequency time adjustment and adjustment amount are sent to terrestrial user before satellite frequency adjustment by satellite, with convenient
User is calculated corresponding moment satellite clock correction, is completed itself using satellite broadcasting star clock clock deviation, clock rate, clock drift and chirp parameter
Position satellite clock solution.
Below according to specific embodiments and the drawings, the present invention is further explained.
Fig. 1 shows the time and frequency standards frequency adjustment timing of embodiment according to the present invention.
As shown in Figure 1, satellite is according to spaceborne high-precision navigation neceiver clock deviation monitoring result, before clock deviation transfinites, in
Moment t0Clock adjustment instruction is generated, frequency modulation moment when including satellite clock face in the instructionAnd the time frequency system is needed to adjust
Frequency term.After satellite reception is instructed to frequency modulation, at the frequency modulation momentBefore by satellite will frequency modulation at the time of and frequency modulation item
It is sent to terrestrial user.Then, satellite moment (when satellite clock face) in local clock faceThe time frequency system frequency is adjusted
It is whole, clock frequency adjustment is completed, to change the drift bearing of clock deviation, for example, if satellite clock correction is positive and constantly increases, then will
Clock frequency is turned down, so that satellite activity's time is elongated, so that clock deviation be made constantly to reduce；If instead satellite clock correction is negative and not
It is disconnected to reduce, then clock frequency is turned up, so that satellite activity shortens the time, so that clock deviation be made constantly to increase.To guaranteeMoment
Later, the predictability of clock deviation, it is desirable that the time frequency system has high-precision frequency modulation function, it can instructed according to frequency modulation and carry out precision
Frequency adjustment.
Terrestrial user receiver carries out clock deviation calculating according to the clock deviation parameter and chirp parameter of satellite broadcasting.Low rail navigation
Satellite message is in addition to including traditional satellite clock correction a0, clock rate a1, clock float a2And above-mentioned parameter is corresponding with reference to moment toc1Except,
Also by the broadcast modulation momentAnd rate correction amount Δ a caused by frequency modulation amount1.Receiver parsing obtains satellite emission signal clock
The face momentAfterwards, satellite emission signal moment clock deviation is calculated based on following formula:
In above formula, Δ t is time interval of the satellite emission signal moment relative to the star clock parameter reference moment；Δt1For letter
Number time interval of the emission time relative to the frequency modulation moment；For signal emission time satellite clock correction, as Δ t1When < 0,
Calculation method is identical as traditional receivers calculation method, Δ t1When > 0, increase the additional clock deviation item Δ a that frequency modulation item introduces1Δt1。
Fig. 2 shows the timing time and frequency standards frequency of embodiment according to the present invention adjustment and re-scaled.
As shown in Fig. 2, satellite existsAfter moment completes frequency adjustment, satellite measures pseudorange using satellite-based navigation receiver
Clock deviation calibration is rapidly completed in value (or fusion inter-satellite link bidirectional measurement value), and is fitted and generates new reference moment toc2When clock
Difference, clock rate, clock float parameter.Hereafter, the new star clock parameter of satellite broadcasting, and time-frequency time adjustment and frequency are adjusted into item data domain
All reset.Receiver user still calculates satellite-signal emission time clock deviation according to formula (3).After the adjustment of satellite time-frequency frequency,
Star clock parameter is without high-precision calibrating, and the diverging of clock deviation error is very fast, therefore satellite-based navigation receiver needs to be rapidly completed clock deviation weight
New calibration, and shorten the clock deviation update cycle, it completes calibration clock deviation and quickly broadcasts.So far, under conditions of not interrupting navigation Service,
Complete the adjustment of satellite time and frequency standards.
The present invention at least has following the utility model has the advantages that the present invention passes through in time at the scheduled time to the frequency of satellite clock
It is adjusted, so that clock deviation is drifted about in the opposite direction, so that being unlikely to satellite clock correction always is more than threshold value；Meanwhile in frequency
By increasing frequency of use time adjustment and adjusting parameter during adjustment, so that frequency can still be defended during adjusting with high precision computation
Star clock deviation；To during ensure that the adjustment of Satellite clock, without stopping navigation Service；So, it will reduce and even avoid stopping
The time only serviced, while sufficiently accurate satellite time being provided, to more effectively provide navigation Service for user, improve clothes
Quality of being engaged in and user experience.
Although some embodiments of the present invention are described in present specification, those skilled in the art
Member is it is understood that these embodiments are merely possible to shown in example.Those skilled in the art under the teachings of the present invention may be used
To expect numerous variant schemes, alternative solution and improvement project without beyond the scope of this invention.The appended claims purport
It is limiting the scope of the invention, and is covering the method in the range of these claims itself and its equivalents and knot whereby
Structure.
Claims (6)
1. the method that one kind does not interrupt the low orbit satellite clock adjustment of navigation Service, including the following steps:
Low orbit satellite was adjusted at the first clock in clock deviation previous existence of transfiniting according to spaceborne high-precision navigation neceiver clock deviation monitoring result
Instruction, wherein the first clock adjustment instruction includes satellite clock time adjustment t1And in moment t1Clock frequency adjustment
Measure Δ f；And
When satellite is according to this star clock face, in the moment t1The frequency of satellite clock is adjusted, frequency adjustment is Δ f, to change clock
The drift bearing of difference.
2. according to the method described in claim 1, further comprising the steps of:
In moment t1In the past, by star clock parameter, moment t1User is broadcast to the frequency adjustment.
3. according to the method described in claim 1, further comprising the steps of:
After the adjustment of satellite clock frequency, spaceborne high-precision navigation neceiver is fitted calibration to clock deviation parameter again, and
It generates and newly refers to moment toc2Star clock parameter；And
Frequency modulation moment, chirp parameter and the star clock parameter regenerated after zero being taken quickly are broadcast to user.
4. according to the method described in claim 1, further comprising the steps of:
Clock caused by star clock parameter reference moment, clock deviation, clock rate, clock drift, the adjustment of frequency time adjustment, frequency is used in combination in user
The whole amount of velocity modulation calculates signal emission time satellite clock correction.
5. according to the method described in claim 1, wherein broadcast parameter includes star clock parameter (parameter reference moment, clock deviation, clock
Speed, clock drift) and frequency modulation moment, frequency modulation amount parameter.
6. according to the method described in claim 1, wherein moment t1When being satellite clock face.
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| CN201811068456.6A CN109283556B (en) | 2018-09-13 | 2018-09-13 | Low-orbit navigation satellite clock adjusting method without interrupting navigation service |
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Cited By (3)
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| CN110471092A (en) * | 2019-08-13 | 2019-11-19 | 广东星舆科技有限公司 | A kind of method, apparatus and computer media of corrected received machine phase observations amount |
| CN112817022A (en) * | 2020-12-23 | 2021-05-18 | 浙江吉利控股集团有限公司 | Low-orbit satellite time-frequency synchronization method, system, electronic equipment and storage medium |
| CN114371489A (en) * | 2021-12-07 | 2022-04-19 | 中国西安卫星测控中心 | Beidou third-order inter-satellite link rapid recovery method based on satellite clock parameter linear prediction |
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| CN114371489A (en) * | 2021-12-07 | 2022-04-19 | 中国西安卫星测控中心 | Beidou third-order inter-satellite link rapid recovery method based on satellite clock parameter linear prediction |
| CN114371489B (en) * | 2021-12-07 | 2024-05-14 | 中国西安卫星测控中心 | Beidou three-number inter-satellite link quick recovery method based on star clock parameter linear prediction |
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