CN109387859B - Method and apparatus for generating long-term satellite orbit and clock bias based on ground tracking station - Google Patents
Method and apparatus for generating long-term satellite orbit and clock bias based on ground tracking station Download PDFInfo
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- CN109387859B CN109387859B CN201710692816.9A CN201710692816A CN109387859B CN 109387859 B CN109387859 B CN 109387859B CN 201710692816 A CN201710692816 A CN 201710692816A CN 109387859 B CN109387859 B CN 109387859B
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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
- G01S19/27—Acquisition or tracking or demodulation of signals transmitted by the system creating, predicting or correcting ephemeris or almanac data within the receiver
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/08—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing integrity information, e.g. health of satellites or quality of ephemeris data
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- 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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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Abstract
The invention discloses a method and a device for generating long-term satellite orbit and clock error based on a ground tracking station. The method comprises the following steps: a reference station selecting step; a fusion data processing step; a track forecasting step; a step of forecasting clock difference; a step of broadcasting the correction; and a terminal self-adaption step. An effective correction broadcasting method is provided, and the problems of applicability and communication flow of various types of terminals are solved. By the terminal self-adaptive method provided by the invention, the anomalies in the long-acting orbit and clock error data can be avoided autonomously, and the backup long-acting ephemeris based on broadcast ephemeris can be utilized in a self-adaptive manner.
Description
Technical Field
The invention relates to the field of satellites, in particular to a method and a device for generating long-term satellite orbit and clock error based on a ground tracking station.
Background
TTFF (Time to first fix ) is an important indicator of GNSS (GNSS: global navigation satellite system, global satellite positioning system) positioning, and typically the first fix takes 30s to achieve. TTFF can be reduced to a few seconds if broadcast ephemeris can be provided in advance. The a-GNSS (Assisted Global Navigation Satellite System, assisted global satellite positioning system) technology provides assistance information in two modes: an Online A-GNSS (Global navigation satellite System) uses wireless communication to transmit auxiliary information such as ephemeris; and secondly, an Offline mode (Offline A-GNSS) is adopted, offline long-term forecast ephemeris (EE) is downloaded, and positioning can be assisted under the condition that no network exists.
However, there are few providers of EE services today because this requires payment and the deployment of GNSS tracking stations worldwide, let alone the long-lasting ephemeris of Multi-GNSS. The invention provides a Multi-GNSS (GPS/GLONASS/BDS) long-acting ephemeris generating method, and provides an effective solving means for the key problem in the long-acting ephemeris service process. Firstly, through the internationally disclosed GNSS tracking station, other allied stations and operation and maintenance GNSS tracking station data, the problem that there is no controllable continuous stable reference station overseas is solved through the reference station selection mode provided by the patent, and high-precision multi-system satellite orbits and clock errors are generated; the satellite orbit long-term forecasting is carried out through orbit dynamics smoothing, the satellite clock error long-term forecasting is carried out through different clock error forecasting strategies aiming at different characteristics of the satellite-borne atomic clock, and a long-acting ephemeris integrity monitoring method is provided, so that the influence of anomalies in the long-term orbit and clock error forecasting on positioning precision is avoided; in order to balance the receiving flow of the terminal and the universality of the terminal algorithm, an effective correction generating method is provided; the self-adaptive terminal method can automatically avoid the abnormality in the long-acting ephemeris, and can automatically generate the backup long-acting ephemeris by using the broadcast ephemeris under the condition that the long-acting ephemeris is not updated in time.
Disclosure of Invention
The invention aims to provide a method and a device for generating long-term satellite orbit and clock error based on a ground tracking station, which are used for carrying out fusion processing on data by properly selecting a reference station, so that the problem that no controllable continuous stable reference station exists is solved, the abnormality in long-term orbit and clock error forecast is effectively avoided, and the problems of applicability and communication flow of various types of terminals are solved.
In order to solve the above technical problems, a first embodiment of the present invention discloses a method for generating long-term satellite orbit and clock error based on a ground station tracking station, which can adaptively generate long-term ephemeris by properly selecting a reference station and performing fusion processing on data, and the method comprises the following steps:
a reference station selecting step of selecting a reference station;
a step of obtaining stable continuous observation data from the reference station selected in the reference station selection step, and then performing fusion data processing to obtain fusion data of track data and clock error data;
a track forecasting step of conducting long-acting track forecasting according to the track data obtained in the fusion data processing step;
a clock difference forecasting step of forecasting the long-term clock difference according to the clock difference data obtained in the fusion data processing step;
a correction broadcasting step of generating satellite clock correction according to the clock error forecasted in the clock error forecasting step and broadcasting the satellite clock correction; and
autonomously avoiding anomalies in the long-acting orbit and clock error data, and adaptively utilizing terminal adaptation steps of backing up the long-acting ephemeris based on broadcast ephemeris.
The second embodiment of the invention also discloses a device for generating long-term satellite orbit and clock error based on the ground tracking station, which comprises the following steps:
a reference station selection unit for selecting a reference station;
the fusion data processing unit is used for acquiring the stable continuous observation data of the reference station selected by the reference station selecting unit, and then carrying out fusion data processing to obtain track data and clock error data;
the track forecasting unit is used for forecasting the long-acting track according to the track data obtained by the fusion data unit;
the clock difference forecasting unit is used for forecasting the long-term clock difference according to the clock difference data obtained by the fusion data unit;
the correction broadcasting unit is used for generating satellite clock correction corrections according to the clock forecasted in the clock forecast step and broadcasting the satellite clock correction corrections; and
the terminal self-adapting unit is used for automatically avoiding the abnormality in the long-acting orbit and clock error data and adaptively utilizing the backup long-acting ephemeris based on the broadcast ephemeris.
Compared with the prior art, the embodiment of the invention has the main differences and effects that:
by properly selecting the reference station and carrying out fusion processing on the data, the problem that no controllable continuous stable reference station exists is solved, the abnormity in long-term track and clock error forecast is effectively avoided, and the problems of applicability and communication flow of various types of terminals are solved.
Further, the priority ranking is performed in each grid according to the related information of each candidate reference station, and the reference stations are selected in combination with the availability of the processing data of each candidate reference station, so that the accuracy of reference station selection can be further improved.
Further, the parameter information is calculated and fixed, and then the GPS/GLONASS/BDS is subjected to fusion data processing, so that the accuracy of data fusion is further improved.
Drawings
Fig. 1 is a flow chart of a method for generating long-term satellite orbit and clock bias based on a ground tracking station in a first embodiment of the invention.
Fig. 2 is a schematic diagram of a strategy for reference station selection in a first embodiment of the invention.
Fig. 3 is a schematic diagram of the broadcast content of the long-acting ephemeris in a first embodiment of the invention.
Fig. 4 is a schematic structural diagram of an apparatus for generating long-term satellite orbit and clock bias based on a ground tracking station according to a second embodiment of the present invention.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be understood by those skilled in the art that the technical solutions claimed in the claims of the present application may be implemented without these technical details and with various changes and modifications based on the following embodiments.
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
A first embodiment of the invention relates to a method of generating long-term satellite orbit and clock bias based on a ground station tracking station. Fig. 1 is a schematic flow chart of the method.
Specifically, the method can adaptively generate the long-acting ephemeris by properly selecting the reference station and fusing the data. As shown in fig. 1, the method comprises the steps of:
in step S101, a reference station is selected. The selection range of the reference stations is about 70 reference stations which are distributed uniformly worldwide, high-precision Mulit-GNSS satellite orbit and clock error determination can be supported, china currently has no globally controllable reference station network, and overseas reference stations can be built later. There are many ways of selecting the reference station, for example, the selection can be made in the following steps: firstly, collecting station address information, reliability information, data availability information and the like of an internationally disclosed GNSS tracking station, an allied station in other modes and an operation and maintenance GNSS tracking station; dividing the stations according to global uniform grids, sequencing the priority in each grid according to related information, and combining the availability of the data processed by the reference station to give a list of the reference stations for the current processing. By this reference station selection strategy, satellite orbit and clock bias determination processing can be supported. Although the selection strategy is schematically shown in fig. 2, the selection method is not limited thereto, and any selection method applicable to the present invention may be used for selection.
And then, the step S102 is carried out, stable continuous observation data of the selected reference station are obtained, and fusion data processing is carried out to obtain track data and clock error data. First, auxiliary calculation information is obtained by using a reference station observation file for the present process given by a reference station selection policy, and the auxiliary calculation information includes, but is not limited to: earth rotation parameters, precise site coordinates, satellite end code delay information (DCB), phase center correction, tidal correction; multi-GNSS combined data processing experiments were performed using a "two-step method", first using GPS precision data processing products to solve and fix parameters including, but not limited to: and (3) performing fusion data processing on the GPS/GLONASS/BDS to obtain Multi-GNSS precise satellite orbits and clock errors under a unified reference frame.
Thereafter, the flow proceeds to step S103, where a long-term track forecast is performed based on the track data. First, five parameters of satellite position, satellite velocity and BERN solar pressure are fitted, and the precise satellite orbit prediction can be performed on different days, for example, 3 days, 5 days or 7 days, taking into consideration a prediction model, wherein the prediction model includes, but is not limited to, a gravitational field model (20×20 EGM model), a central gravitational field model (earth, sun, moon, planetary attraction), a relativistic model and a solid tide model, and the prediction period can be set according to practical needs, for example, 1 day, 7 days, 14 days or 28 days.
Thereafter, the process proceeds to step S104, where a long-term clock difference prediction is performed based on the track data. In this step, a long-term clock-difference forecast of Multi-GNSS satellite clock-differences can be performed: different forecasting methods are adopted for different kinds of satellite clock consideration forecasting models, the forecasting models comprise, but are not limited to, a quadratic polynomial forecasting model, a gray forecasting model and a Kalman filtering forecasting model, the adopted clock difference can be 3 days, 5 days or 7 days, and the forecasting period can be set according to actual needs, for example, 1 day, 7 days, 14 days or 28 days.
Thereafter, the process proceeds to step S105, in which satellite clock correction is generated based on the clock predicted in the clock prediction step, and broadcast is performed. Under the condition of ensuring the precision, the communication consumption can be effectively reduced.
Thereafter, step S106 is entered, anomalies in the long-term orbit and clock error data are autonomously avoided, and the backup long-term ephemeris based on the broadcast ephemeris is utilized adaptively.
The flow is ended thereafter.
It follows that by appropriate selection of the reference station, fusion processing of the data can be performed to adaptively generate the long-term ephemeris.
For example, satellite orbit prediction based on broadcast ephemeris is performed by fitting five parameters of satellite position, satellite speed and BERN solar light pressure, adopting broadcast ephemeris of not less than 1 day, and considering a gravitational field model (8 x 8 EGM model), a central gravitational field model (earth, sun and moon) and a relativistic model, wherein the prediction period is 3 days; satellite clock difference forecast based on broadcast ephemeris: because of different short-term clock difference forecasting precision, a quadratic polynomial forecasting model is adopted, broadcast ephemeris of not less than 1 day is adopted, and the forecasting period is 3 days.
The current international mainstream long-acting ephemeris forecasting method mainly utilizes forecasting seeds broadcast by a server end to forecast at a terminal, the method cannot be popularized universally, and if broadcast ephemeris fitted by long-acting ephemeris is broadcast, the data volume is large, and the communication cost is too high. The invention provides an effective correction generating method which can reduce the data consumption. In the formula (1) [ X ] p Y P Z P ] T Is a track forecast sequence, [ X ] B Y B Z B ] T Is a sequence of satellite positions, [ x ] of broadcast ephemeris computation S y S z S ] T Is the orbit correction value under the satellite-solid coordinate system, and R is the rotation matrix from the satellite-solid system to the earth-solid system. In the formula (2), t P Is the forecast clock error, t B Is a broadcast ephemerisCalculated satellite clock difference, a in formula (3) 0 Is satellite clock error, a 1 Is the satellite clock speed, a 2 Is the rate of change of the satellite clock speed, t C Is the correction of satellite clock error, t C Calculated by the formula (2).
t P ＝t B +t C (2)
t B ＝a 0 +a 1 Δt+a 2 Δt 2 (3)
Giving a group of broadcast ephemeris at zero point every day, forecasting for 24 hours according to the broadcast ephemeris, and respectively carrying out x-ray analysis by using a formula (4) S 、y S 、z S 、t C And (5) performing correction fitting to obtain a group of coefficients. The information required to be broadcast for the long-acting ephemeris is shown in fig. 2, and the communication consumption can be effectively reduced under the condition of ensuring the precision. In the formula (4), a x0 、a x1 、a x2 、C x 、S x Is x S Fitting coefficient of a) y0 、a y1 、a y2 、C y 、S y Is y S Fitting coefficient of a) z0 、a z1 、a z2 、C z 、S z Is z S Fitting coefficient of a) t0 、a t1 、a t2 、C t 、S t Is t C θ (Δt) is the true near-spot angle of the satellite at Δt. The broadcast content of the long-acting ephemeris is shown in fig. 3.
The prediction orbit and clock error of part of satellites are abnormal due to the reasons of satellite maneuver, earth shadow, attitude control mode conversion, star Zhong Tiaobian and the like, and the influence of the prediction abnormality on positioning is rapidly increased along with the increase of the prediction time. For advanced end users, in order to improve the reliability of the long-lasting ephemeris, a method is proposedThe method of the self-adaptive terminal can further autonomously avoid the abnormality in the long-acting ephemeris, and can autonomously predict the short-term ephemeris based on the broadcast ephemeris received earlier and by using a simplified orbit and clock error predictor under the condition that the long-acting ephemeris is not updated in time. In various forecasting processes, the solution of the user ranging error URAoc related to the satellite clock utilizes the formula (5), sigma R For the accuracy, sigma, of the track in the radial direction T For precision, sigma, in the trace direction N For accuracy in normal direction, sigma CLK For clock skew accuracy, A, B values are different for different systems or track types.
The method embodiments of the present invention may be implemented in software, hardware, firmware, etc. Regardless of whether the invention is implemented in software, hardware, or firmware, the instruction code may be stored in any type of computer accessible memory (e.g., permanent or modifiable, volatile or non-volatile, solid or non-solid, fixed or removable media, etc.). Also, the Memory may be, for example, programmable array logic (Programmable Array Logic, abbreviated as "PAL"), random access Memory (Random Access Memory, abbreviated as "RAM"), programmable Read-Only Memory (Programmable Read Only Memory, abbreviated as "PROM"), read-Only Memory (ROM), electrically erasable programmable Read-Only Memory (Electrically Erasable Programmable ROM, abbreviated as "EEPROM"), magnetic disk, optical disk, digital versatile disk (Digital Versatile Disc, abbreviated as "DVD"), and the like.
A second embodiment of the invention relates to an apparatus for generating long-term satellite orbit and clock bias based on a ground station tracking station. Fig. 3 is a schematic structural view of the device. The actual structure of the present invention can be modified as necessary according to the actual need, and is not limited to the structure of fig. 3.
Specifically, the device can adaptively generate the long-acting ephemeris by properly selecting the reference station and fusing the data. As shown in fig. 3, the apparatus 100 includes:
a reference station selection unit 101 for selecting a reference station;
a fusion data unit 102, configured to acquire auxiliary calculation information from the reference station selected by the reference station selection unit, and perform fusion data processing to obtain track data and clock error data;
a track forecasting unit 103, configured to perform long-term track forecasting according to the track data obtained by the fusion data unit;
the clock error forecasting unit 104 is configured to perform long-term clock error forecasting according to the clock error data obtained by the fused data unit;
a correction broadcasting unit 105, configured to generate a satellite clock correction according to the clock forecasted in the clock forecast step and broadcast the satellite clock correction; and
the terminal adaptive unit 106 is configured to autonomously avoid anomalies in the long-acting orbit and clock error data, and adaptively utilize the backup long-acting ephemeris based on the broadcast ephemeris.
The first embodiment is a method embodiment corresponding to the present embodiment, and the present embodiment can be implemented in cooperation with the first embodiment. The related technical details mentioned in the first embodiment are still valid in this embodiment, and in order to reduce repetition, a detailed description is omitted here. Accordingly, the related art details mentioned in the present embodiment can also be applied to the first embodiment.
It should be noted that, in the embodiments of the present invention, each unit mentioned in each device is a logic unit, and in physical aspect, one logic unit may be a physical unit, or may be a part of one physical unit, or may be implemented by a combination of multiple physical units, where the physical implementation manner of the logic units is not the most important, and the combination of functions implemented by the logic units is a key for solving the technical problem posed by the present invention. Furthermore, in order to highlight the innovative part of the present invention, the above-described device embodiments of the present invention do not introduce elements that are less closely related to solving the technical problem posed by the present invention, which does not indicate that the above-described device embodiments do not have other elements.
It should be noted that in the claims and the description of this patent, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (9)
1. A method for generating long-term satellite orbit and clock bias based on ground tracking stations, comprising the steps of:
a reference station selecting step of selecting a reference station;
a step of obtaining stable continuous observation data from the reference station selected in the reference station selection step, and then performing fusion data processing to obtain fusion data of track data and clock error data;
a track forecasting step of conducting long-acting track forecasting through track dynamics smoothing according to the track data obtained in the data fusion step;
a clock error forecasting step of forecasting the long-term clock error according to the clock error data obtained in the data fusion step;
a correction broadcasting step of generating satellite clock correction according to the clock error forecasted in the clock error forecasting step and broadcasting the satellite clock correction; and
autonomously avoiding anomalies in the long-acting orbit and clock error data, and adaptively utilizing a terminal adaptive step of backing up the long-acting ephemeris based on broadcast ephemeris;
in the terminal self-adaption step, the anomaly in the long-acting ephemeris is automatically avoided, and under the condition that the long-acting ephemeris is not updated in time, the short-term ephemeris forecast is performed by utilizing the simplified orbit and clock error predictor on the basis of the broadcast ephemeris received earlier.
2. The method of claim 1, wherein,
the reference station selection step comprises the sub-steps of:
collecting candidate reference stations according to the station address information, the reliability information and the data availability information;
dividing candidate reference stations according to a global uniform grid; and
the reference stations are selected by prioritizing in each grid based on information about each candidate reference station and combining the availability of processed data for each candidate reference station.
3. The method of claim 1, wherein,
in the step of fusing data, parameter information is calculated and fixed, and then the GPS/GLONASS/BDS is subjected to fusion data processing.
4. The method of claim 1, wherein,
the forecast period of the track forecast step and the clock-difference forecast step is 1 day, 7 days, 14 days, or 28 days.
5. The method of claim 1, wherein,
the forecasting model of the track forecasting step is: a gravitational field model, a central gravitational field model, a relativistic model, or a solid tide model.
6. The method of claim 1, wherein,
the forecast model of the clock error forecast step is: a quadratic polynomial predictive model, a gray predictive model, or a Kalman filter predictive model.
7. The method of claim 1, wherein,
in the clock error prediction step, the user ranging error related to the satellite orbit and clock error is obtained by
σ R For the accuracy, sigma, of the track in the radial direction T For precision, sigma, in the trace direction N For accuracy in normal direction, sigma CLK For clock skew accuracy, A, B takes different constant values for different systems or track types.
8. The method of claim 1, wherein,
in the correction broadcasting step, the satellite orbit and the clock correction are fitted relative to the correction of the broadcast ephemeris.
9. An apparatus for generating long-term satellite orbit and clock bias based on a ground station tracking station, comprising:
a reference station selection unit for selecting a reference station;
the fusion data processing unit is used for acquiring the stable continuous observation data of the reference station selected by the reference station selecting unit, and then carrying out fusion data processing to obtain track data and clock error data;
the track forecasting unit is used for conducting long-acting track forecasting through track dynamics smoothing according to the track data obtained by the fusion data unit; and
the clock difference forecasting unit is used for forecasting the long-term clock difference according to the clock difference data obtained by the fusion data unit;
the correction broadcasting unit is used for generating satellite clock correction corrections according to the clock forecasted in the clock forecast step and broadcasting the satellite clock correction corrections; and
the terminal self-adaptive unit is used for automatically avoiding the abnormality in the long-acting orbit and clock error data and adaptively utilizing the backup long-acting ephemeris based on the broadcast ephemeris;
the terminal self-adaptive unit is also used for automatically avoiding the abnormality in the long-acting ephemeris, and the short-term ephemeris forecast is performed by utilizing the simplified orbit and the clock error predictor on the basis of the broadcast ephemeris received earlier in an autonomous manner under the condition that the long-acting ephemeris is not updated in time.
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| PCT/CN2018/095794 WO2019033883A1 (en) | 2017-08-14 | 2018-07-16 | Method and apparatus for generating long-term satellite orbit and clock offset, based on ground tracking station |
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| CN112987043B (en) * | 2019-12-17 | 2022-06-24 | 千寻位置网络有限公司 | Satellite clock error reference smoothing method and system thereof |
| CN113740891A (en) * | 2020-05-29 | 2021-12-03 | 华为技术有限公司 | Method for determining position and speed of terminal equipment by using navigation satellite and electronic device |
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| CN112711044A (en) * | 2020-12-09 | 2021-04-27 | 北方信息控制研究院集团有限公司 | Method for forecasting satellite clock error in short time by combining ultra-fast ephemeris |
| CN114791613A (en) * | 2021-01-25 | 2022-07-26 | 华为技术有限公司 | Ephemeris forecasting method and device |
| CN114035211B (en) * | 2021-09-08 | 2024-05-10 | 中国科学院上海天文台 | Broadcast ephemeris and clock error parameter calculation method for regional navigation satellite system |
| CN117368946B (en) * | 2023-10-19 | 2024-05-28 | 齐鲁空天信息研究院 | Satellite broadcast ephemeris comprehensive method and system based on multi-reference station real-time data stream |
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