CN111221270B - Measurement error registration method for satellite navigation software and hardware collaborative simulation test - Google Patents
Measurement error registration method for satellite navigation software and hardware collaborative simulation test Download PDFInfo
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Abstract
The invention discloses a measurement error registration method for a satellite navigation software and hardware collaborative simulation test, which comprises the following steps: establishing a software and hardware cooperative test system comprising a software and hardware satellite model and a software and hardware receiving station model, acquiring original observation data of hardware equipment, generating observation data of a software model, and acquiring system difference of the hardware equipment: and estimating the system difference in real time according to the original observation data of all the hardware equipment by a software system. Acquiring clock error of hardware equipment, generating observation data in a software and hardware cooperative mode, and jointly orbit determination by utilizing the observation data in the software and hardware cooperative mode: and combining the observation data of all the software models, the original observation data of hardware equipment and the observation data in the software and hardware cooperative mode to establish a multi-satellite combined orbit determination equation so as to solve the orbit determination problem of each satellite. After closed-loop verification, the method can access other external real systems, such as a real hardware satellite, a real receiving station and the like, so as to verify the state and the capability of the external real systems.
Description
Technical Field
The invention mainly relates to the technical field of satellite navigation, in particular to a measurement error registration method for a satellite navigation software and hardware collaborative simulation test.
Background
Software and hardware cooperation means that a software simulation system and hardware physical equipment are subjected to mixed simulation operation under a unified space-time reference and control mechanism in the whole system, and the operation state of a real engineering large system is equivalently simulated so as to achieve a specific test target. Wherein "soft" refers to a simulation model of a software simulation system and "hard" refers to a hardware physical device in a verification system. Software simulation environment and a minimum hardware system capable of simulating a full-scale system are established at the beginning of establishment of most large engineering systems, and a hardware-software combined semi-physical simulation system is also established for verifying the function and performance of hardware accessed to the system. Similarly, a ground test verification system established by the Beidou navigation system also establishes a software and hardware cooperative test environment based on global system simulation software and a hardware verification subsystem, and covers signal and information layer tests, so that the respective advantages of the software and hardware environment are fully exerted, and the high-efficiency complete system overall test capability is formed. The software and hardware cooperative test relates to the problem of synchronization of measurement data between software and hardware modules, if the measurement data between the modules are inconsistent, subsequent data processing is caused to be in a problem, and the test effect is influenced. Therefore, the data errors between the software and hardware modules in the soft and hard cooperative test are kept consistent, so that the subsequent data processing is not influenced and becomes a problem which has to be faced in the soft and hard cooperative test.
Through the search of the prior art, the invention name of Chinese invention patent (application publication number: CN 201910051659.2) is a multi-satellite combined orbit determination method based on model error compensation, which mainly improves the orbit determination precision of a target satellite by compensating two types of model errors of a dynamic model and an observation model through a space and foundation combined orbit determination strategy. The model error compensation method described in the present invention includes four aspects: the method comprises the steps of establishing a multi-satellite combined orbit determination equation according to a dynamic model of a space-based measurement and control network and an observation model of the space-based measurement and control network, obtaining OC residual errors according to an orbit calculation value and an orbit observation value of a target satellite, respectively establishing error compensation items of the dynamic model and the observation model by determining error sources corresponding to the OC residual errors, and establishing the multi-satellite combined orbit determination equation according to the error compensation items.
However, the invention of the chinese patent (application publication No. CN 201910051659.2), entitled multi-satellite joint orbit determination method based on model error compensation, mainly solves the problem that the method cannot be used for the registration of software and hardware collaborative errors in satellite navigation because model error compensation is performed on a space-based dynamic model and a ground-based observation model at the same time and does not involve the scene of software and hardware error compensation.
The invention discloses a Chinese patent (application publication number: CN 201710045148.0) named as a virtual-real combination test verification method for an inter-satellite link of a global satellite navigation system, and mainly aims to solve the problem of how to perform an inter-satellite networking test on an inter-satellite link network by using the virtual-real combination test verification method. The invention describes a virtual-real combination test verification method of an inter-satellite link, which comprises four contents: and simulating an inter-satellite link between a physical virtual satellite and an in-orbit satellite, integrating the virtual link and the physical link to form an entire network inter-satellite link, and utilizing virtuality and reality.
However, the invention is named as a virtual-real combined test verification method for an inter-satellite link of a global satellite navigation system (CN 201710045148.0), and the invention focuses on how to verify the networking function of the inter-satellite link by using the virtual-real combined test verification method, and does not relate to the problem of error registration in the soft-hard cooperative test described herein.
In summary, in the existing software and hardware cooperative system of the satellite navigation system, only a method for realizing a certain test by software and hardware cooperation is simply introduced, and the field of the software and hardware cooperative system is not involved in the aspects of model error compensation and registration of satellite orbit determination. Therefore, the research of software and hardware error registration method for the observation data in the satellite navigation software and hardware cooperative test is lacked, which is also a problem actually faced in the satellite navigation software and hardware cooperative system.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a measurement error registration method for a satellite navigation software and hardware collaborative simulation test. The problem that effective tests cannot be carried out due to inconsistent software and hardware observation errors in software and hardware cooperative tests can be avoided, and authenticity and effectiveness of the tests can be guaranteed.
The measurement error registration method for the satellite navigation software and hardware collaborative simulation test comprises the following steps:
s1: and establishing a software and hardware cooperative test system comprising a software and hardware satellite model and a software and hardware receiving station model.
S2: acquiring raw observation data of hardware equipment: and the hardware receiving station receives the radio frequency signals transmitted by the hardware satellite and directly measures to obtain the original data.
S3: generating observation data of the software model: and obtaining the observation data of the software model by using a software simulation method through the system error and the clock error of the software model set by the software.
S4: acquiring the system difference of the hardware equipment: and estimating the system difference in real time according to the original observation data of all the hardware equipment by a software system.
S5: acquiring clock error of hardware equipment: obtained by measuring the clock difference between the hardware device and the system time in real time.
S6: generating observation data in a software and hardware cooperative mode: and injecting the measured system error and clock error of the hardware equipment into a software system in real time, and generating observation data in a software and hardware cooperative mode by software simulation.
S7: jointly fixing the orbit by utilizing observation data in a software and hardware cooperative mode: and combining the observation data of all the software models, the original observation data of hardware equipment and the observation data in the software and hardware cooperative mode to establish a multi-satellite combined orbit determination equation so as to solve the orbit determination problem of each satellite.
As a further improvement of the invention: in the step S1, the software and hardware collaborative test system includes a software satellite model, a software receiving station, a hardware satellite model, a hardware receiving station, a management and control system, and a comprehensive security system. The management and control system sends the original observation data of all the hardware devices to the software system in real time, and the comprehensive guarantee system provides a time reference for the whole hardware system.
As a further improvement of the invention: in step S4, the hardware device system difference includes a system difference of a hardware satellite model and a system difference of a hardware receiving station, and the software system deducts data such as a clock error of the hardware device, a satellite-to-ground geometric distance atmospheric delay, and the like from the hardware satellite pseudo-range and carrier observation data of all the hardware receiving stations to obtain O-C observations measured by all the hardware devices. Theoretically, these O-C observations contain only the combined values of the hardware device source-side transmit system differences, sink-side receive system differences, and random measurement errors. And respectively estimating and obtaining source end transmitting system difference and sink end receiving system difference of hardware equipment such as a hardware receiving station, a hardware satellite and the like by utilizing the O-C observation.
As a further improvement of the invention: in step S5, the hardware clock difference includes a clock difference of the hardware satellite model and a clock difference of the hardware receiving station. The clock error of the hardware equipment is obtained by measuring the 1pps of the hardware equipment and the 1pps of the comprehensive guarantee system in real time by the comprehensive guarantee system by utilizing the time interval counter SR620 and is transmitted to the software server in real time.
As a further improvement of the invention: in step S6, there are two main types of observation data in the software simulation software and hardware cooperation mode: firstly, the hardware receiving station receives the observation data of the software satellite, and secondly, the software receiving station receives the observation data of the hardware satellite.
Compared with the prior art, the invention has the advantages that:
1. the invention discloses an observation data error registration method under a satellite navigation software and hardware cooperative mode, and provides a method for solving the problem that effective tests cannot be carried out due to inconsistent software and hardware observation errors in software and hardware cooperative tests.
2. After closed-loop verification is carried out on the software and hardware cooperative test, other external real systems, such as a real hardware satellite, a real receiving station and the like, can be accessed to verify the state and the capability of the external real systems.
Drawings
Fig. 1 is a schematic flow chart of a measurement error registration method of a satellite navigation software-hardware collaborative simulation test in an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a satellite navigation software and hardware collaborative testing system in the embodiment of the present invention.
Detailed Description
Fig. 1 shows a measurement error registration method for satellite navigation software and hardware collaborative simulation test according to the present invention, which includes the following steps
And S1, establishing a software and hardware cooperative test system comprising a software and hardware satellite model and a software and hardware receiving station model.
Specifically, the software and hardware cooperative test system includes but is not limited to:
1) software satellite model: a software equivalent model with real satellite information sending and receiving functions;
2) hardware satellite model: a hardware equivalent model with real satellite information and signal sending and receiving functions;
3) software receiving station model: a software equivalent model with the function of receiving software and hardware satellite information;
4) hardware receiving station model: the hardware equivalent model has the functions of receiving software and hardware satellite information and signals;
5) the management and control system comprises: the system has the function of connecting a hardware receiving station and a software system, and can send original observation data of hardware equipment to the software system in real time;
6) the comprehensive safeguard system comprises: the clock correction device has the functions of clock correction measurement and time maintenance;
s2, acquiring original observation data of the hardware equipment: and the hardware receiving station receives the radio frequency signals transmitted by the hardware satellite and directly measures to obtain the original data.
S4, generating observation data of the software model: and obtaining the observation data of the software model by using a software simulation method through the system error and the clock error of the software model set by the software.
Specifically, the observed data of the software model should include, but is not limited to:
1) the software simulation sets the system error and clock error of the software satellite measurement data;
2) the software simulation sets the system error and clock error of the measured data of the software receiving station;
3) and obtaining the observation data of the software satellite received by the software receiving station by a pure software simulation method.
S4, acquiring the system difference of the hardware equipment: and estimating the system difference in real time according to the original observation data of all the hardware equipment by a software system.
Specifically, acquiring the systematic differences of the hardware devices should include, but is not limited to:
1) the management and control system sends the observation data of all hardware receiving stations and all hardware satellites to the software system in real time;
2) and the software system estimates the system difference data of all hardware receiving stations and hardware satellites in real time.
S5, acquiring clock error of hardware equipment: obtained by measuring the clock difference between the hardware device and the system time in real time.
Specifically, obtaining the clock difference of the hardware device should include, but is not limited to:
1) measuring 1pps of a hardware satellite and 1pps of the comprehensive security system in real time through SR260 of the comprehensive security system to obtain clock error; in the same way, the clock error of the real-time measurement hardware receiving station is obtained;
2) and sending the clock error of the hardware satellite and the clock error of the hardware receiving station to a software system server in real time through the comprehensive guarantee system.
S6, generating observation data in a software and hardware cooperation mode: and injecting the measured system error and clock error of the hardware equipment into a software system in real time, and generating observation data in a software and hardware cooperative mode by software simulation.
Specifically, generating observation data in the software and hardware cooperation mode should include, but is not limited to:
1) and (3) generating observation data of the hardware receiving station for receiving the software satellite: the software system sets the system error and the clock error of the software satellite model, the system error and the clock error of the hardware receiving station are hardware receiving station system error and clock error data obtained by the software system estimation, and the software system simulates and generates observation data after the system error and the clock error of the software and hardware model are set.
2) And (3) generating observation data of the hardware satellite received by the software receiving station: the software system sets the system error and the clock error of the software receiving station model, the system error and the clock error of the hardware satellite are hardware satellite system error and clock error data obtained by the software system estimation, and the software system simulates and generates observation data after the system error and the clock error of the software and hardware model are set.
In step S7, jointly orbit determination is performed using the observation data in the software and hardware cooperation mode: and combining the observation data of all the software models, the original observation data of hardware equipment and the observation data in the software and hardware cooperative mode to establish a multi-satellite combined orbit determination equation so as to solve the orbit determination problem of each satellite.
Fig. 2 is a satellite navigation software and hardware cooperation test system in an embodiment of the present invention, which includes a software satellite model 1, a software receiving station model 2, a hardware receiving station model 3, a hardware satellite model 4, a hardware management and control model 5, and a comprehensive safeguard system 6.
In particular, the software satellite model 1 supports the generation of streams of navigation information simulating the transmission of real satellites. The software receiving station model 2 supports the simulation of real receivers parsing the information stream. The hardware receiving station model 3 supports receiving real satellite signals and analyzing to obtain observation data. The hardware satellite model 4 supports the generation of signals and information streams that simulate real satellites. The hardware management and control model 5 supports sending the raw observation data of all hardware devices to the software system. The integrated safeguard system 6 supports time reference maintenance and has the function of measuring clock differences between other hardware equipment and the reference clock differences.
In summary, the embodiment of the invention can solve the problem that effective tests cannot be carried out due to inconsistent observation errors of software and hardware in software and hardware cooperative tests.
After the software and hardware cooperative test is subjected to closed-loop verification by the method, other external real systems, such as a real hardware satellite, a real receiving station and the like, can be accessed to verify the state and the capability of the external real systems.
It should be noted that: the present invention may be implemented in software and/or in a combination of software and hardware, for example, the various means of the invention may be implemented using Application Specific Integrated Circuits (ASICs) or any other similar hardware devices. In one embodiment, the software program of the present invention may be executed by a processor to implement the steps or functions described above. Also, the software programs (including associated data structures) of the present invention can be stored in a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. Further, some of the steps or functions of the present invention may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the system claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Claims (8)
1. A measurement error registration method for satellite navigation software and hardware collaborative simulation tests is characterized by comprising the following steps:
s1, establishing a software and hardware cooperative test system comprising a software and hardware satellite model and a software and hardware receiving station model;
s2, acquiring original observation data of the hardware equipment: a hardware receiving station receives radio frequency signals transmitted by a hardware satellite and directly measures to obtain original data;
s3, generating observation data of the software model: obtaining observation data of the software model by a software simulation method through system error and clock error of the software model set by software;
s4, acquiring the system difference of the hardware equipment: the software system estimates the system difference in real time according to the original observation data of all the hardware equipment;
s5, acquiring clock error of hardware equipment: measuring clock difference between hardware equipment and system time in real time;
s6, generating observation data in a software and hardware cooperation mode: injecting the measured system difference and clock difference of the hardware equipment into a software system in real time, and generating observation data in a software and hardware cooperative mode by software simulation;
s7, jointly orbit determination by utilizing observation data in a software and hardware cooperation mode: and combining the observation data of all the software models, the original observation data of hardware equipment and the observation data in the software and hardware cooperative mode to establish a multi-satellite combined orbit determination equation so as to solve the orbit determination problem of each satellite.
2. The measurement error registration method of the satellite navigation software and hardware co-simulation test according to claim 1, characterized in that: the software and hardware collaborative test system in the step S1 includes a software satellite model, a software receiving station, a hardware satellite model, a hardware receiving station, a management and control system, and a comprehensive safeguard system, where the management and control system sends the original observation data of all hardware devices to the software system in real time, and the comprehensive safeguard system provides a time reference for the whole hardware system.
3. The measurement error registration method of the satellite navigation software and hardware co-simulation test according to claim 1, characterized in that: the observation data of the software model in step S3 includes the system error and the clock error of the measurement data of the software simulation setting software satellite, the system error and the clock error of the measurement data of the software simulation setting software receiving station, and the observation data of the software receiving station receiving software satellite is obtained by a pure software simulation method.
4. The measurement error registration method for satellite navigation software and hardware co-simulation test according to claim 2, characterized in that: the systematic differences of the hardware devices in the step S4 include systematic differences of the hardware satellite models and systematic differences of the hardware receiving stations.
5. The measurement error registration method for satellite navigation software and hardware co-simulation test according to claim 2, characterized in that: the specific steps of the software system in step S4 for estimating the system difference in real time according to the original observation data of all the hardware devices are as follows: the software system deducts clock error of hardware equipment and atmospheric delay data of satellite-ground geometric distance according to pseudo range and carrier wave observation data of all hardware receiving stations to obtain O-C observation measured by all hardware equipment; and respectively estimating and obtaining source end transmitting system differences and sink end receiving system differences of the hardware receiving station and the hardware satellite hardware equipment by utilizing O-C observation.
6. The measurement error registration method for satellite navigation software and hardware co-simulation test according to claim 2, characterized in that: the clock offset of the hardware device in step S5 includes the clock offset of the hardware satellite model and the clock offset of the hardware receiving station.
7. The measurement error registration method for satellite navigation software and hardware co-simulation test according to claim 2, characterized in that: the specific steps of measuring the clock difference between the hardware device and the system time in real time in step S5 are as follows:
s501, measuring 1pps of hardware equipment and 1pps of the comprehensive guarantee system in real time by using a time interval counter through the comprehensive guarantee system to obtain clock error;
and S502, sending the clock error of the hardware satellite and the hardware receiving station to a software system in real time through the comprehensive guarantee system.
8. The measurement error registration method of the satellite navigation software and hardware co-simulation test according to claim 1, characterized in that: the observation data in the software and hardware cooperation mode in step S6 includes: the hardware receiving station receives the observation data of the software satellite and the software receiving station receives the observation data of the hardware satellite.
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