北斗系統(tǒng)集中式自主實時軌道確定與時間同步方法研究
發(fā)布時間：2018-08-25 20:24
【摘要】：是否具有獨立自主研發(fā)的衛(wèi)星導(dǎo)航系統(tǒng)是衡量一個國家經(jīng)濟、軍事及政治實力的重要標(biāo)志之一。正因為如此,美國、俄羅斯已先后建成GPS及GLONASS系統(tǒng),歐盟也開始了Galileo系統(tǒng)的建設(shè)工作。為了保障國家安全,我國也于1994年開始著手建設(shè)和發(fā)展北斗衛(wèi)星導(dǎo)航系統(tǒng)(簡稱BDS)。至今,我國已發(fā)射了16顆北斗導(dǎo)航衛(wèi)星,具備了由5個GEO、5個IGSO及4個MEO衛(wèi)星組成的區(qū)域無源服務(wù)能力,預(yù)計到2020年左右將具備由5個GEO和30個非靜止衛(wèi)星組成的全球無源服務(wù)能力。 由地面控制系統(tǒng)(Operational Control Segment-OCS)提供并經(jīng)由衛(wèi)星播發(fā)給用戶的衛(wèi)星星歷是導(dǎo)航定位不可或缺的重要資料,其精度決定了衛(wèi)星導(dǎo)航系統(tǒng)的服務(wù)性能。因此,衛(wèi)星導(dǎo)航系統(tǒng)能否正常運行很大程度上取決于OCS,若OCS出現(xiàn)故障抑或主控站在戰(zhàn)時被敵方摧毀,整個衛(wèi)星導(dǎo)航系統(tǒng)將很快陷入癱瘓。就算在正常運行情況下,系統(tǒng)的導(dǎo)航定位服務(wù)性能也將在很大程度上取決于地面監(jiān)測站的數(shù)量及地理分布。但由于受政治、外交和國土面積等因素的影響,我國無法像美國一樣全球大量布站,因此,建立星間鏈路、減小衛(wèi)星導(dǎo)航系統(tǒng)對地面站的依賴是北斗衛(wèi)星導(dǎo)航系統(tǒng)實現(xiàn)全球無源服務(wù)能力的關(guān)鍵。 星間鏈路的建立意味著衛(wèi)星導(dǎo)航系統(tǒng)對OCS的依賴得到了解放、其在戰(zhàn)時或重大自然災(zāi)害情況下的生存能力得到了提高、地面監(jiān)測站布設(shè)對系統(tǒng)性能的影響得到了降低。早在20世紀(jì)80年代,GPS衛(wèi)星導(dǎo)航系統(tǒng)就已開展了自主定軌的相關(guān)技術(shù)研究,但由于導(dǎo)航系統(tǒng)自主定軌技術(shù)的敏感性及保密性,國外公開的相關(guān)資料不僅數(shù)量少,而且很少涉及核心算法及關(guān)鍵技術(shù)。不僅如此,北斗衛(wèi)星導(dǎo)航系統(tǒng)的星座構(gòu)型及地面站布局等方面均有別于GPS系統(tǒng),也不可能完全照搬國外的理論與技術(shù)。因此,要建成一個我國獨立自主的全球衛(wèi)星導(dǎo)航系統(tǒng),保證其運行服務(wù)性能及戰(zhàn)時生存能力,開展基于北斗衛(wèi)星導(dǎo)航系統(tǒng)的自主定軌技術(shù)研究顯得尤為重要。 本文以北斗系統(tǒng)仿真星座為對象,對集中式自主實時軌道確定與時間同步的模型及算法進行了系統(tǒng)性的研究,并自主研制了一套仿真分析軟件。本文利用該軟件進行了大量算例分析,驗證了此軟件的正確性及可靠性,并得出了一些有益結(jié)論,為北斗系統(tǒng)的自主導(dǎo)航建設(shè)提供了參考。詳細(xì)來看,本文所做工作及主要貢獻可歸納如下： 1、提出了一種適用于實時濾波軌道解算的小步長低階Collocation積分方法,并以二體問題及GPS衛(wèi)星為對象,對其積分性能進行了詳細(xì)分析。結(jié)果表明：在一定長度的積分步長范圍內(nèi),將小步長低階Collocation方法用于逐歷元濾波軌道解算是可行且有效的； 2、詳細(xì)推導(dǎo)了星間／星地雙向組合觀測方程及星間／星地單向觀測方程的組成形式,并從理論上對比分析了雙向及單向觀測方程的優(yōu)劣；在此基礎(chǔ)上,深入研究了參數(shù)分解濾波模型與參數(shù)整體濾波模型的構(gòu)成形式,分別從解算結(jié)果精度、解算耗時及衛(wèi)星狀態(tài)與鐘差參數(shù)相關(guān)性這三個方面分析了兩者的性能；最后,綜合參數(shù)分解與參數(shù)整體濾波模型的形式提出了一種適用于單向錨固站觀測值情況下的參數(shù)半分解濾波模型算法,利用其進行20天定軌解算,結(jié)果證明了該模型的正確性及有效性； 3、采用赫爾默特方差分量估計實現(xiàn)了星間及星地兩類觀測值的融合。在給出其詳細(xì)計算過程的前提下,通過仿真計算證明了本文所采用的基于方差分量估計的濾波解算過程是正確且有效的； 4、通過仿真驗算分析了星間鏈路的加入對GEO衛(wèi)星定軌精度的影響,結(jié)果表明：考慮了星間鏈路之后,GEO衛(wèi)星軌道確定結(jié)果精度有了較大的改善,其改善量級達到dm級，，其結(jié)果系統(tǒng)變化特性得到了一定的消除且其結(jié)果的收斂效果及速度都得到了明顯的改進和提高； 5、提出采用短弧定軌法進行集中式自主實時軌道確定與時間同步過程中GEO衛(wèi)星機動軌道的快速恢復(fù)。結(jié)果顯示：采用本文提出的解算流程不僅可以在較短時間內(nèi)恢復(fù)機動星的軌道精度,而且還能保證機動星自主軌道確定的連續(xù)性； 6、在項目組既有軟件平臺基礎(chǔ)上,研制了一套北斗系統(tǒng)集中式自主實時軌道確定與時間同步的仿真分析軟件。該軟件可用于星間／星地偽距觀測值仿真、集中式自主實時軌道確定與時間同步、GEO衛(wèi)星機動軌道快速恢復(fù)及結(jié)果精度評定等。本文利用該軟件進行了大量的驗算分析工作,證明了軟件的正確性及可靠性,并得出了一系列有益結(jié)論。
[Abstract]:Whether the satellite navigation system is independently developed or not is one of the important symbols to measure a country's economic, military and political strength. For this reason, the United States, Russia has successively built GPS and GLONASS systems, and the European Union has begun the construction of Galileo system. So far, China has launched 16 Beidou navigation satellites with the regional passive service capability of 5 GEO, 5 IGSO and 4 MEO satellites. It is expected that by 2020, China will have a global passive service capability of 5 GEO and 30 non-geostationary satellites.
Satellite ephemeris provided by Operational Control Segment-OCS and transmitted to users via satellite is an indispensable and important data for navigation and positioning. Its accuracy determines the service performance of the satellite navigation system. Therefore, the normal operation of the satellite navigation system depends largely on the OCS, if the OCS fails or the main one occurs. Even under normal operating conditions, the performance of the navigation and positioning services of the system will depend to a great extent on the number and geographical distribution of ground monitoring stations. However, due to political, diplomatic and territorial factors, China can not be like the United States. As a result, the establishment of inter-satellite links and the reduction of the dependence of the satellite navigation system on ground stations are the key to the realization of the global passive service capability of the Beidou satellite navigation system.
The establishment of inter-satellite links means that the satellite navigation system relies on OCS, its survivability is improved in wartime or in serious natural disasters, and the impact of ground monitoring stations on the performance of the system is reduced. As early as the 1980s, the GPS satellite navigation system has carried out independent orbit determination related technologies. However, due to the sensitivity and confidentiality of the autonomous orbit determination technology of the navigation system, the amount of relevant information published abroad is not only small, but also seldom involves the core algorithm and key technology. Therefore, it is very important to study the autonomous orbit determination technology based on Beidou Satellite Navigation System in order to build an independent global satellite navigation system to ensure its operational performance and wartime survivability.
Taking the Beidou system simulation constellation as the object, this paper systematically studies the model and algorithm of centralized autonomous real-time orbit determination and time synchronization, and develops a set of simulation analysis software independently. A large number of examples are analyzed by using this software to verify the correctness and reliability of the software, and some useful results are obtained. The main contributions of this paper can be summarized as follows:1.
1. A small-step low-order Collocation integration method for real-time filtering trajectory calculation is proposed, and the integration performance of the two-body problem and GPS satellites is analyzed in detail. The results show that the small-step low-order Collocation method is applied to epoch-by-epoch filtering trajectory calculation in a certain range of integration steps. Feasible and effective;
2. The two-way combined observational equation between satellites and earth and the one-way observational equation between satellites and earth are deduced in detail, and the advantages and disadvantages of the two-way and one-way observational equation are analyzed theoretically. Finally, a parameter semi-decomposition filtering model algorithm for unidirectional anchorage station observation is proposed in the form of parameter decomposition and parameter global filtering model, which can be used for 20 days orbit determination. The correctness and effectiveness of the model are verified.
3. Helmert variance component estimation is used to realize the fusion of inter-satellite and inter-satellite and ground observations.
4. The influence of inter-satellite links on the orbit determination accuracy of GEO satellite is analyzed by simulation. The results show that the orbit determination accuracy of GEO satellite is greatly improved after inter-satellite links are considered, and the order of improvement is dm. The variation characteristics of the system are eliminated to a certain extent, and the convergence effect and speed of the result are both eliminated. Obvious improvement and improvement have been achieved.
5. A short-arc orbit determination method is proposed to recover the maneuvering orbit of GEO satellite in the process of centralized autonomous real-time orbit determination and time synchronization.
6. Based on the existing software platform of the project team, a set of simulation and analysis software for the centralized autonomous real-time orbit determination and time synchronization of Beidou system is developed. The software can be used for the simulation of inter-satellite/ground pseudo-range observations, the centralized autonomous real-time orbit determination and time synchronization, the quick recovery of GEO satellite maneuvering orbit and the accuracy evaluation of the results. In this paper, a lot of checking and analysis work has been done with the software, which proves the correctness and reliability of the software, and a series of useful conclusions have been drawn.
【學(xué)位授予單位】：武漢大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2013
【分類號】：P228.4
本文編號：2204001
[Abstract]:Whether the satellite navigation system is independently developed or not is one of the important symbols to measure a country's economic, military and political strength. For this reason, the United States, Russia has successively built GPS and GLONASS systems, and the European Union has begun the construction of Galileo system. So far, China has launched 16 Beidou navigation satellites with the regional passive service capability of 5 GEO, 5 IGSO and 4 MEO satellites. It is expected that by 2020, China will have a global passive service capability of 5 GEO and 30 non-geostationary satellites.
Satellite ephemeris provided by Operational Control Segment-OCS and transmitted to users via satellite is an indispensable and important data for navigation and positioning. Its accuracy determines the service performance of the satellite navigation system. Therefore, the normal operation of the satellite navigation system depends largely on the OCS, if the OCS fails or the main one occurs. Even under normal operating conditions, the performance of the navigation and positioning services of the system will depend to a great extent on the number and geographical distribution of ground monitoring stations. However, due to political, diplomatic and territorial factors, China can not be like the United States. As a result, the establishment of inter-satellite links and the reduction of the dependence of the satellite navigation system on ground stations are the key to the realization of the global passive service capability of the Beidou satellite navigation system.
The establishment of inter-satellite links means that the satellite navigation system relies on OCS, its survivability is improved in wartime or in serious natural disasters, and the impact of ground monitoring stations on the performance of the system is reduced. As early as the 1980s, the GPS satellite navigation system has carried out independent orbit determination related technologies. However, due to the sensitivity and confidentiality of the autonomous orbit determination technology of the navigation system, the amount of relevant information published abroad is not only small, but also seldom involves the core algorithm and key technology. Therefore, it is very important to study the autonomous orbit determination technology based on Beidou Satellite Navigation System in order to build an independent global satellite navigation system to ensure its operational performance and wartime survivability.
Taking the Beidou system simulation constellation as the object, this paper systematically studies the model and algorithm of centralized autonomous real-time orbit determination and time synchronization, and develops a set of simulation analysis software independently. A large number of examples are analyzed by using this software to verify the correctness and reliability of the software, and some useful results are obtained. The main contributions of this paper can be summarized as follows:1.
1. A small-step low-order Collocation integration method for real-time filtering trajectory calculation is proposed, and the integration performance of the two-body problem and GPS satellites is analyzed in detail. The results show that the small-step low-order Collocation method is applied to epoch-by-epoch filtering trajectory calculation in a certain range of integration steps. Feasible and effective;
2. The two-way combined observational equation between satellites and earth and the one-way observational equation between satellites and earth are deduced in detail, and the advantages and disadvantages of the two-way and one-way observational equation are analyzed theoretically. Finally, a parameter semi-decomposition filtering model algorithm for unidirectional anchorage station observation is proposed in the form of parameter decomposition and parameter global filtering model, which can be used for 20 days orbit determination. The correctness and effectiveness of the model are verified.
3. Helmert variance component estimation is used to realize the fusion of inter-satellite and inter-satellite and ground observations.
4. The influence of inter-satellite links on the orbit determination accuracy of GEO satellite is analyzed by simulation. The results show that the orbit determination accuracy of GEO satellite is greatly improved after inter-satellite links are considered, and the order of improvement is dm. The variation characteristics of the system are eliminated to a certain extent, and the convergence effect and speed of the result are both eliminated. Obvious improvement and improvement have been achieved.
5. A short-arc orbit determination method is proposed to recover the maneuvering orbit of GEO satellite in the process of centralized autonomous real-time orbit determination and time synchronization.
6. Based on the existing software platform of the project team, a set of simulation and analysis software for the centralized autonomous real-time orbit determination and time synchronization of Beidou system is developed. The software can be used for the simulation of inter-satellite/ground pseudo-range observations, the centralized autonomous real-time orbit determination and time synchronization, the quick recovery of GEO satellite maneuvering orbit and the accuracy evaluation of the results. In this paper, a lot of checking and analysis work has been done with the software, which proves the correctness and reliability of the software, and a series of useful conclusions have been drawn.
【學(xué)位授予單位】：武漢大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2013
【分類號】：P228.4
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