CN107402394A - A kind of in-orbit Calibration Method in spaceborne frequency measurement position error source and device - Google Patents
A kind of in-orbit Calibration Method in spaceborne frequency measurement position error source and device Download PDFInfo
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- CN107402394A CN107402394A CN201710399529.9A CN201710399529A CN107402394A CN 107402394 A CN107402394 A CN 107402394A CN 201710399529 A CN201710399529 A CN 201710399529A CN 107402394 A CN107402394 A CN 107402394A
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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
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
- G01S19/235—Calibration of receiver components
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Abstract
The invention discloses a kind of in-orbit Calibration Method in spaceborne frequency measurement position error source and device.Methods described includes：Calibration station, calibration signal of the control calibration station transmitting in frequency measurement satellite operation band limits are chosen in the beam coverage of frequency measurement satellite；Control frequency measurement satellite to carry out n times frequency measurement to calibration signal, obtain the frequency measurement matrix of calibration signal；According to position vector, relative velocity vector of position vector, frequency measurement satellite of the calibration station in earth centered fixed coordinate frame in earth centered fixed coordinate frame, the state matrix of calculating calibration signal；According to the actual frequency of calibration signal, frequency measurement matrix, frequency measurement times N and state matrix, the frequency measurement estimation of deviation value of calculating frequency measurement satellite.It can be seen that the present invention carries out the elimination of long term drift error by the way of in-orbit calibration, it is possible to increase frequency-measurement accuracy and positioning precision of the frequency measurement satellite to Ground emitter signals.
Description
Technical field
The present invention relates to space-based radio-location technology field, more particularly to a kind of spaceborne in-orbit mark in frequency measurement position error source
Calibration method and device.
Background technology
Modern war is IT-based warfare, and the key for grasping the initiative of war is whether can preferentially perceive war state
Gesture.Wherein, one of means that radio intelligence technology perceives as war posture, play an important role in modern war,
Particularly space-based radio intelligence technology has that wide coverage, intercept probability height, flexible arrangement, information reaction speed be fast, expense
Effect than it is high the advantages that, have become the focus of the competition of each military power.
Using space-based radio intelligence technology, the radio characteristic information and information of target can be not only obtained, and
And target can be positioned, find out goal activities rule., can by merging the RI radio intelligence and positional information of target
More valuable military information is provided.Space-based radio-location technology is one of important technical requirements.
In the various positioning means of space-based radio-location technology, frequency measurement positioning, i.e., by the radio of target of investication
Radiation feature, it is the most frequently used means that target of investication, which be accurately positioned,.The skin Nano satellite that function is simple, cost is low is space-based
The development trend of radio-location technology, with reference to frequency measurement positioning means, skin Nano satellite can realize that radio signal information obtains,
And can is accurately positioned to target, and skin Nano satellite is important space-based radio intelligence means.
But due to the limitation of skin Nano satellite weight, volume and cost, its crystal oscillator frequency as digital receiver frequency source
Rate stability may it is poor, long term drift error and short term drift error are all more sensitive, the long term drift error of crystal oscillator and
Short term drift error finally can all cause frequency measurement and positioning of the skin Nano satellite to ground low speed or stationary radiant source certain miss to be present
Difference so that frequency measurement or position inaccurate.Wherein, short term drift error is mainly affected by temperature, and with temperature into certain ratio
Relation, it can in advance be measured by ground and carry out calibration, compensation；But long term drift error is mainly influenceed by device aging, with
The effect of time in orbit and space environment, the error becomes larger, and impenetrably face calibration compensates, and can only carry out
Rail calibration.The presence of long term drift error, cause to be difficult to obtain accurate frequency measurement information, the problem of can not be accurately positioned.
The content of the invention
In order to eliminate influence of the long term drift error to frequency measurement error and position error, it is proposed that of the invention is a kind of spaceborne
The in-orbit Calibration Method in frequency measurement position error source and device.
According to an aspect of the invention, there is provided a kind of spaceborne in-orbit Calibration Method in frequency measurement position error source, the side
Method includes：
Calibration station is chosen in the beam coverage of frequency measurement satellite, controls the calibration station transmitting to be defended in the frequency measurement
Calibration signal in the range of star working frequency range；
Control the frequency measurement satellite to carry out multiple frequency measurement to the calibration signal, obtain the frequency of the calibration signal
Calculation matrix；
It is connected according to position vector, the frequency measurement satellite of the calibration station in earth centered fixed coordinate frame in the earth's core coordinate
Position vector, relative velocity vector in system, calculate the state matrix of the calibration signal；
According to the actual frequency of the calibration signal, the frequency measurement matrix, frequency measurement number and the state square
Battle array, calculate the frequency measurement estimation of deviation value of the frequency measurement satellite.
According to another aspect of the present invention, there is provided a kind of spaceborne in-orbit calibration device in frequency measurement position error source, it is described
Device includes：
Unit is chosen at calibration station, for choosing calibration station in the beam coverage of frequency measurement satellite, controls the calibration
Stand calibration signal of the transmitting in the frequency measurement satellite operation band limits；
Frequency measurement matrix acquiring unit, for controlling the frequency measurement satellite to carry out more secondary frequencies surveys to the calibration signal
Amount, obtain the frequency measurement matrix of the calibration signal；
State matrix computing unit, for according to position vector of the calibration station in earth centered fixed coordinate frame, described
Position vector, relative velocity vector of the frequency measurement satellite in earth centered fixed coordinate frame, calculate the state matrix of the calibration signal；
Frequency measurement estimation of deviation value computing unit, for the actual frequency according to the calibration signal, the frequency measurement square
Battle array, frequency measurement number and the state matrix, calculate the frequency measurement estimation of deviation value of the frequency measurement satellite.
In summary, technical scheme carries out the elimination of long term drift error by the way of in-orbit calibration, leads to
Cross in frequency measurement satellite beams coverage and choose suitable calibration station, and control calibration station transmitting to be in frequency measurement satellite operation
Calibration signal in band limits, it is ensured that there is frequency measurement satellite sufficiently long segmental arc can receive calibration signal；Pass through control
After calibration signal of the frequency measurement satellite to calibration station carries out multiple frequency measurement, the frequency measurement matrix of calibration signal is obtained；According to
Position vector, position vector, the relative velocity vector of frequency measurement satellite of the calibration station in earth centered fixed coordinate frame, calculate calibration letter
Number state matrix；According to the actual frequency of calibration signal, frequency measurement matrix, frequency measurement number and state matrix, calculate
The frequency measurement estimation of deviation value of frequency measurement satellite, survey of the frequency measurement satellite to Ground emitter signals is corrected thereby using the frequency measurement estimation of deviation value
Frequency information, frequency measurement information after being corrected simultaneously exports, to eliminate long term drift error to frequency measurement error and position error
Influence, improve frequency measurement satellite to the frequency-measurement accuracy and positioning precision of Ground emitter signals.
Brief description of the drawings
Fig. 1 is that a kind of flow for spaceborne in-orbit Calibration Method in frequency measurement position error source that one embodiment of the invention provides is shown
It is intended to；
Fig. 2 is the frequency measurement satellite under the earth centered fixed coordinate frame that one embodiment of the invention provides and the position pass at calibration station
It is schematic diagram；
Fig. 3 is that a kind of structure for spaceborne in-orbit calibration device in frequency measurement position error source that one embodiment of the invention provides is shown
It is intended to；
Fig. 4 is that a kind of spaceborne practicing for the in-orbit calibration in frequency measurement position error source that one embodiment of the invention provides is
System schematic diagram；
Fig. 5 is a kind of frequency measurement Track of Sub-Satellite Point and the position relationship at calibration station that one embodiment of the invention provides；
Fig. 6 is that a kind of calibration signal that one embodiment of the invention provides reaches the true arrival rate of frequency measurement satellite with surveying
The measurement frequency curve map of frequency satellite.
Embodiment
The present invention mentality of designing be：In order to eliminate influence of the long term drift error to frequency measurement error and position error, this
Invention proposes a kind of spaceborne in-orbit Calibration Method in frequency measurement position error source, by choosing suitable calibration station, controls the calibration station
Calibration signal of the transmitting in frequency measurement satellite operation band limits, control frequency measurement satellite carry out more secondary frequencies to the calibration signal
Measurement, then sweared according to position vector of the calibration station in earth centered fixed coordinate frame, the position vector of frequency measurement satellite, relative velocity
Amount, calculate the state matrix of calibration signal；According to the actual frequency of calibration signal, the frequency measurement matrix of frequency measurement satellite, frequency
Pendulous frequency and state matrix, the frequency measurement estimation of deviation value of frequency measurement satellite is calculated, so as to be corrected using the frequency measurement estimation of deviation value
Frequency measurement information of the frequency measurement satellite to Ground emitter signals, accurate frequency measurement of the frequency measurement satellite to Ground emitter signals can be achieved and accurately determine
Position.To make the object, technical solutions and advantages of the present invention clearer, embodiment of the present invention is made below in conjunction with accompanying drawing into
One step it is described in detail.
Fig. 1 is that a kind of flow for spaceborne in-orbit Calibration Method in frequency measurement position error source that one embodiment of the invention provides is shown
It is intended to.As shown in figure 1, this method includes：
Step S110, chooses calibration station in the beam coverage of frequency measurement satellite, and the transmitting of control calibration station is in frequency measurement
Calibration signal in satellite operation band limits.
, it is necessary to choose a suitable calibration station in the beam coverage of frequency measurement satellite in the present embodiment, control mark
Launch the calibration signal in frequency measurement satellite operation band limits to ensure that calibration signal can be obtained by frequency measurement satellite in school station
Arrive, while ensure that frequency measurement satellite can receive calibration signal in sufficiently long segmental arc.
Step S120, control frequency measurement satellite carry out multiple frequency measurement to calibration signal, and the frequency for obtaining calibration signal is surveyed
Moment matrix.
Pendulous frequency in the present embodiment is not specifically limited, more than or equal to 1 time.
Step S130, it is connected and sits in the earth's core according to position vector, frequency measurement satellite of the calibration station in earth centered fixed coordinate frame
Position vector, relative velocity vector in mark system, calculate the state matrix of calibration signal.
Step S140, according to the actual frequency of calibration signal, frequency measurement matrix, frequency measurement number and state matrix,
Calculate the frequency measurement estimation of deviation value of frequency measurement satellite.
After obtaining frequency measurement estimation of deviation value, can is by the frequency measurement estimation of deviation value calibration long term bias within a certain period of time
Error, calibration of the combined ground to short term drift error, when frequency measurement satellite carries out Ground emitter signals frequency measurement, to frequency measurement satellite pair
The frequency measurement information of Ground emitter signals compensates and corrects, and improves to ground low speed or the frequency-measurement accuracy in stationary radiant source with determining
Position precision.It can be seen that the present invention carries out the elimination of long term drift error by the way of the in-orbit calibration in frequency measurement position error source, improve
The degree of accuracy of frequency measurement of the frequency measurement satellite to Ground emitter signals, and then improve the positioning precision to Ground emitter signals.
In one embodiment of the invention, the control frequency measurement satellite in step S120 carries out more secondary frequencies to calibration signal
Measurement, the frequency measurement matrix F for obtaining calibration signal are：
F=[fd1, fd2..., fdN]T,
Wherein, fdi(i=1 ..., N) is n times frequency measurement of the frequency measurement satellite to calibration signal, and N takes the integer more than 1.
Fig. 2 is the frequency measurement satellite under the earth centered fixed coordinate frame that one embodiment of the invention provides and the position pass at calibration station
It is schematic diagram.As shown in Fig. 2 it is positive spheroid to simplify earth model, the center of circle of positive spheroid is earth centered fixed coordinate frame SeCenter
O。
The position vector for making calibration station B (static) be connected in the earth's core in system is rb, positions of the satellite S in the connected system in the earth's core
Vector and relative velocity vector are respectively rs、vs.Then calibration signal reaches satellite S Doppler frequency fdFor：
Wherein, ωEFor rotational-angular velocity of the earth vector, c is the light velocity, fbFor calibration station actual emanations frequency.It can prove,
(rb-rs)·((ωE×rb)-(vs+ωE×rs))=- (rb-rs)·vs
So above-mentioned formula can be reduced to：
fd=fb(1+usb·vs/c)
usb=(rb-rs)/||rb-rs||
Due to the unstable characteristic as the crystal oscillator of digital receiver frequency source in satellite S, satellite S is caused to believe calibration
Many-sided measurement error, i.e. long term drift error, short term drift error and random error be present in the measurement of number arrival rate.Its
In, long term drift error is the function of time, is the gradual process formed with device aging, is regarded as within a certain period of time
Droop, and can periodically carry out in-orbit calibration；Short term drift error is the function of crystal oscillator temperature, continuous with crystal oscillator temperature
Change, it can in advance be measured by ground and carry out calibration, compensation；Random error shows as white Gaussian noise, can not compensate.
After short term drift error compensates by calibration on ground, measurements of the satellite S to calibration signal arrival rate
It there will be no short term drift error, only long term drift error and random error.So, can be with table to the measurement of calibration signal n times
It is shown as：
fdi=fb(1+usbi·vsi/c)+Δ+εiI=1,2 ..., N
usbi=(rb-rsi)/||rb-rsi| | i=1,2 ..., N
Wherein, rsi、vsiIt can be obtained in real time by the gps data of satellite, Δ is in a short time fixed frequency measurement deviation, εi
For frequency measurement random error (for white Gaussian noise), it is by being write as matrix form after above-mentioned formula progress simple transformation：
F-Gfb=C Δs+E
Wherein, matrix is tieed up in N × 1 that C is complete 1,
F=[fd1, fd2..., fdN]T
G=[g1, g2..., gN]T
E=[ε1, ε2... εN]T
gi=1+usbi·vsi/ c i=1,2 ..., N
So, the estimate of frequency measurement deviation deltaIt is represented by：
It is frequency measurement data and the position vector of frequency measurement satellite that frequency measurement satellite measures, relative it was found from from above-mentioned push over
Velocity, the position vector at calibration station have equation relation.
If obtain satellite S to obtain in the position vector of position vector at different moments, relative velocity vector and calibration station
To state matrix, the relation for the frequency measurement information that state matrix and frequency measurement satellite measure then is established by above-mentioned formula, just
Frequency measurement estimation of deviation value can be obtained
In one embodiment of the invention, the position according to calibration station in earth centered fixed coordinate frame in step S130
Position vector, the relative velocity vector of vector, frequency measurement satellite in earth centered fixed coordinate frame, calculate the state matrix of calibration signal
Including：
The gps data of frequency measurement satellite is received, frequency measurement satellite is obtained in position vector r at different moments according to gps datasiWith
Relative velocity vector vsi, then have
usbi=(rb-rsi)/||rb-rsi| | i=1,2 ..., N
gi=1+usbi·vsi/ c i=1,2 ..., N
The state matrix G of calibration signal is：
G=[g1, g2..., gN]T
Wherein, c is the light velocity；rbFor the position vector at calibration station.
Then in step S140 according to the actual frequency of calibration signal, frequency measurement matrix, frequency measurement times N and state
Matrix, calculating the frequency measurement estimation of deviation value of frequency measurement satellite includes：
It is inclined by frequency measurement according to the actual frequency of calibration signal, frequency measurement matrix, frequency measurement times N and state matrix
Poor estimation formulas calculates the frequency measurement estimation of deviation value of frequency measurement satelliteWherein, frequency measurement estimation of deviation formula is：
Wherein, C is the unit matrix that N × 1 is tieed up, and F is frequency measurement matrix；G is state matrix；fbFor the true of calibration signal
Real frequency；N is frequency measurement number.
In as described above, after obtaining frequency measurement estimation of deviation value, can is by the frequency measurement estimation of deviation within a certain period of time
It is worth calibration long term bias error, calibration of the combined ground to short term drift error, when frequency measurement satellite carries out Ground emitter signals frequency measurement
When, frequency measurement information of the frequency measurement satellite to Ground emitter signals is compensated and corrected, improved to ground low speed or stationary radiant
The frequency-measurement accuracy and positioning precision in source.In one embodiment of the invention, the method shown in Fig. 1 further comprises：
Frequency measurement information of the frequency measurement satellite to Ground emitter signals is corrected using frequency measurement estimation of deviation value, after being corrected
Frequency measurement information simultaneously exports.
Fig. 3 is that a kind of structure for spaceborne in-orbit calibration device in frequency measurement position error source that one embodiment of the invention provides is shown
It is intended to.As shown in figure 3, the spaceborne in-orbit calibration device 300 in frequency measurement position error source includes：
Unit 310 is chosen at calibration station, for choosing calibration station, control calibration station in the beam coverage of frequency measurement satellite
Calibration signal of the transmitting in frequency measurement satellite operation band limits；
Frequency measurement matrix acquiring unit 320, for controlling frequency measurement satellite to carry out multiple frequency measurement to calibration signal, obtain
Obtain the frequency measurement matrix of calibration signal；
State matrix computing unit 330, for being defended according to position vector of the calibration station in earth centered fixed coordinate frame, frequency measurement
Position vector, relative velocity vector of the star in earth centered fixed coordinate frame, calculate the state matrix of calibration signal；
Frequency measurement estimation of deviation value computing unit 340, for the actual frequency according to calibration signal, frequency measurement matrix, frequency
Rate pendulous frequency and state matrix, calculate the frequency measurement estimation of deviation value of frequency measurement satellite.
In one embodiment of the invention, frequency measurement matrix acquiring unit 320 controls frequency measurement satellite to the calibration
Signal carries out multiple frequency measurement, and the frequency measurement matrix F of the calibration signal of acquisition is：
F=[fd1, fd2..., fdN]T,
Wherein, fdi(i=1 ..., N) is n times frequency measurement of the frequency measurement satellite to calibration signal, and N takes the integer more than 1.
In one embodiment of the invention, state matrix computing unit 330, for receiving the gps data of frequency measurement satellite,
Frequency measurement satellite is obtained in position vector r at different moments according to gps datasiWith relative velocity vector vsi, then have
usbi=(rb-rsi)/||rb-rsi| | i=1,2 ..., N
gi=1+usbi·vsi/ c i=1,2 ..., N
The state matrix G of calibration signal is：
G=[g1, g2..., gN]T
Wherein, c is the light velocity；rbFor the position vector at calibration station.
In one embodiment of the invention, frequency measurement error calculation unit 340, for the true frequency according to calibration signal
Rate, frequency measurement matrix, frequency measurement number and state matrix, the frequency measurement that frequency measurement satellite is calculated by frequency measurement estimation of deviation formula are inclined
Poor estimateWherein, frequency measurement estimation of deviation formula is：
Wherein, C is the unit matrix that N × 1 is tieed up, and F is frequency measurement matrix；G is state matrix；fbFor the true of calibration signal
Real frequency；N is frequency measurement number.
In one embodiment of the invention, the device shown in Fig. 3 further comprises：Unit is corrected, for using frequency measurement
Estimation of deviation value corrects frequency measurement information of the frequency measurement satellite to Ground emitter signals, and the frequency measurement information after being corrected is simultaneously defeated
Go out.
The spaceborne in-orbit calibration device in frequency measurement position error source shown in Fig. 3 can be applied to ground fortune control and data handling system
In, and suitable for the skin Nano satellite frequency measurement positioning calibration that function is simple, cost is low, to improve frequency measurement, positioning precision.
It should be noted that the device shown in Fig. 3 is corresponding identical with each embodiment of method shown in Fig. 1, it is existing detailed above
Describe in detail bright, will not be repeated here.
Fig. 4 is that a kind of spaceborne practicing for the in-orbit calibration in frequency measurement position error source that one embodiment of the invention provides is
System schematic diagram.As shown in figure 4, this application system includes satellite, calibration on ground station and ground fortune control and data handling system.Ground
Calibration station and ground fortune control and data handling system include the spaceborne in-orbit calibration device in frequency measurement position error source shown in Fig. 3.
To make the technique effect of the present invention more obvious, will be said below by the simulation result of technical solution of the present invention
It is bright.In emulation experiment, implement first with the spaceborne in-orbit Calibration Method in frequency measurement position error source proposed by the present invention, Ran Houtong
Cross the estimation error statisticses result that Monto-Carlo methods provide frequency measurement deviation.
Frequency measurement satellite orbit is made as sun-synchronous orbit high 500km, it is 120 to detect and receive antenna covering terrestrial beam width
Degree, the longitude and latitude at calibration on ground station is (143 °, 31.25 °), and Fig. 5 is a kind of frequency measurement satellite that one embodiment of the invention provides
Sub-satellite track and the position relationship at calibration station, as shown in figure 5, the calibration station is in the left side of frequency measurement Track of Sub-Satellite Point.
The self-positioning error 5m of satellite position (1 σ), the self-positioning error 0.1m/s of speed (1 σ) are made, frequency measurement random error is
1kHz (1 σ), true frequency measurement deviation is 10kHz as caused by long term drift, and the observation time of satellite reception calibration signal is
200s, 1s provide a frequency measurement result, and the true radiation frequency at calibration on ground station is 2.7GHz.By simulation calculation, can obtain
Estimate to frequency measurement deviation is 9.96kHz, very close with actual value 10kHz.Fig. 6 is what one embodiment of the invention provided
A kind of calibration signal reaches the true arrival rate of frequency measurement satellite and the measurement frequency curve map of frequency measurement satellite.As shown in fig. 6, mark
Before school there is droop in measurement frequency all the time with true arrival rate, and after utilizing the calibration that frequency measurement estimation of deviation value obtains
Measurement frequency is fluctuated up and down around true arrival rate all the time, it is believed that its fluctuation range is caused by frequency measurement random error.
The estimation error statisticses (emulation 10000 times) of frequency measurement deviation are carried out using Monto-Carlo methods, estimation is obtained and misses
The standard deviation of difference is 70.7Hz (1 σ), it is seen then that estimated accuracy is very high.So, the frequency measurement estimation of deviation carried out using the present invention
After value carries out the calibration of frequency measurement information of the frequency measurement satellite to Ground emitter signals, accurate frequency values, Jin Erjin can be obtained
Row Ground emitter signals are accurately positioned.
In summary, technical scheme carries out the elimination of long term drift error by the way of in-orbit calibration, leads to
Cross in frequency measurement satellite beams coverage and choose suitable calibration station, and control calibration station transmitting to be in frequency measurement satellite operation
Calibration signal in band limits, it is ensured that there is frequency measurement satellite sufficiently long segmental arc can receive calibration signal；Pass through control
After calibration signal of the frequency measurement satellite to calibration station carries out multiple frequency measurement, the frequency measurement matrix of calibration signal is obtained；According to
Position vector, position vector, the relative velocity vector of frequency measurement satellite of the calibration station in earth centered fixed coordinate frame, calculate calibration letter
Number state matrix；According to the actual frequency of calibration signal, frequency measurement matrix, frequency measurement number and state matrix, calculate
The frequency measurement estimation of deviation value of frequency measurement satellite, survey of the frequency measurement satellite to Ground emitter signals is corrected thereby using the frequency measurement estimation of deviation value
Frequency information, frequency measurement information after being corrected simultaneously exports, to eliminate long term drift error to frequency measurement error and position error
Influence, improve frequency measurement satellite to the frequency-measurement accuracy and positioning precision of Ground emitter signals.
The foregoing is only a specific embodiment of the invention, under the above-mentioned teaching of the present invention, those skilled in the art
Other improvement or deformation can be carried out on the basis of above-described embodiment.It will be understood by those skilled in the art that above-mentioned tool
The purpose of the present invention is simply preferably explained in body description, and protection scope of the present invention should be defined by scope of the claims.
Claims (10)
1. a kind of spaceborne in-orbit Calibration Method in frequency measurement position error source, it is characterised in that methods described includes：
Calibration station is chosen in the beam coverage of frequency measurement satellite, controls the calibration station transmitting to be in the frequency measurement satellite work
Make the calibration signal in band limits；
Control the frequency measurement satellite to carry out multiple frequency measurement to the calibration signal, obtain the frequency measurement of the calibration signal
Matrix；
According to position vector of the calibration station in earth centered fixed coordinate frame, the frequency measurement satellite in earth centered fixed coordinate frame
Position vector, relative velocity vector, calculate the state matrix of the calibration signal；
According to the actual frequency of the calibration signal, the frequency measurement matrix, frequency measurement number and the state matrix, meter
Calculate the frequency measurement estimation of deviation value of the frequency measurement satellite.
2. the method as described in claim 1, it is characterised in that control the frequency measurement satellite to carry out the calibration signal multiple
Frequency measurement, the frequency measurement matrix F for obtaining the calibration signal are：
F=[fd1,fd2,…,fdN]T,
Wherein, fdi(i=1 ..., N) is n times frequency measurement of the frequency measurement satellite to the calibration signal, and N is taken more than 1
Integer.
3. method as claimed in claim 2, it is characterised in that it is described according to the calibration station in earth centered fixed coordinate frame
Position vector, the relative velocity vector of position vector, the frequency measurement satellite in earth centered fixed coordinate frame, calculate the calibration letter
Number state matrix include：
The gps data of the frequency measurement satellite is received, the frequency measurement satellite is obtained in position at different moments according to the gps data
Vector rsiWith relative velocity vector vsi, then have
usbi=(rb-rsi)/||rb-rsi| | i=1,2 ..., N
gi=1+usbi·vsi/ c i=1,2 ..., N
The state matrix G of the calibration signal is：
G=[g1,g2,…,gN]T
Wherein, c is the light velocity；rbFor the position vector at the calibration station.
4. method as claimed in claim 3, it is characterised in that actual frequency, the frequency according to the calibration signal
Rate calculation matrix, frequency measurement number and the state matrix, calculating the frequency measurement estimation of deviation value of the frequency measurement satellite includes：
According to the actual frequency of the calibration signal, the frequency measurement matrix, frequency measurement number and the state matrix, by
Frequency measurement estimation of deviation formula calculates the frequency measurement estimation of deviation value of the frequency measurement satelliteWherein, the frequency measurement estimation of deviation formula
For：
Wherein, C is the unit matrix that N × 1 is tieed up, and F is the frequency measurement matrix；G is the state matrix；fbFor the calibration
The actual frequency of signal；N is frequency measurement number.
5. the method as described in claim any one of 1-4, it is characterised in that methods described further comprises：
Frequency measurement information of the frequency measurement satellite to Ground emitter signals is corrected using the frequency measurement estimation of deviation value, is corrected
Rear frequency measurement information simultaneously exports.
6. a kind of spaceborne in-orbit calibration device in frequency measurement position error source, it is characterised in that described device includes：
Unit is chosen at calibration station, for choosing calibration station in the beam coverage of frequency measurement satellite, controls the calibration station to send out
The calibration signal penetrated in the frequency measurement satellite operation band limits；
Frequency measurement matrix acquiring unit, for controlling the frequency measurement satellite to carry out multiple frequency measurement to the calibration signal,
Obtain the frequency measurement matrix of the calibration signal；
State matrix computing unit, for according to position vector of the calibration station in earth centered fixed coordinate frame, the frequency measurement
Position vector, relative velocity vector of the satellite in earth centered fixed coordinate frame, calculate the state matrix of the calibration signal；
Frequency measurement estimation of deviation value computing unit, for the actual frequency according to the calibration signal, the frequency measurement matrix, frequency
Rate pendulous frequency and the state matrix, calculate the frequency measurement estimation of deviation value of the frequency measurement satellite.
7. device as claimed in claim 6, it is characterised in that
The frequency measurement matrix acquiring unit controls the frequency measurement satellite to carry out multiple frequency measurement to the calibration signal, obtains
The frequency measurement matrix F of the calibration signal be：
F=[fd1,fd2,…,fdN]T,
Wherein, fdi(i=1 ..., N) is n times frequency measurement of the frequency measurement satellite to the calibration signal, and N is taken more than 1
Integer.
8. device as claimed in claim 7, it is characterised in that
The state matrix computing unit, for receiving the gps data of the frequency measurement satellite, institute is obtained according to the gps data
Frequency measurement satellite is stated in position vector r at different momentssiWith relative velocity vector vsi, then have
usbi=(rb-rsi)/||rb-rsi| | i=1,2 ..., N
gi=1+usbi·vsi/ c i=1,2 ..., N
The state matrix G of the calibration signal is：
G=[g1,g2,…,gN]T
Wherein, c is the light velocity；rbFor the position vector at the calibration station.
9. device as claimed in claim 8, it is characterised in that
The frequency measurement error calculation unit, for the actual frequency according to the calibration signal, the frequency measurement matrix, frequency
Pendulous frequency and the state matrix, the frequency measurement estimation of deviation value of the frequency measurement satellite is calculated by frequency measurement estimation of deviation formula
Wherein, the frequency measurement estimation of deviation formula is：
Wherein, C is the unit matrix that N × 1 is tieed up, and F is the frequency measurement matrix；G is the state matrix；fbFor the calibration
The actual frequency of signal；N is frequency measurement number.
10. the device as described in claim any one of 6-9, it is characterised in that described device further comprises：
Unit is corrected, for correcting frequency measurement of the frequency measurement satellite to Ground emitter signals using the frequency measurement estimation of deviation value
Information, frequency measurement information after being corrected simultaneously export.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111337955A (en) * | 2020-03-04 | 2020-06-26 | 中国人民解放军军事科学院国防科技创新研究院 | Satellite-borne single-satellite frequency measurement passive positioning receiver test method |
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| CN113078939B (en) * | 2021-03-24 | 2021-09-17 | 军事科学院系统工程研究院网络信息研究所 | Method for estimating measurement error of communication satellite multi-beam pointing calibration |
| CN113359165A (en) * | 2021-06-03 | 2021-09-07 | 中国电子科技集团公司第三十六研究所 | Method and device for multi-satellite combined positioning of radiation source and electronic equipment |
| CN113433573A (en) * | 2021-06-03 | 2021-09-24 | 中国电子科技集团公司第三十六研究所 | Method and device for multi-satellite combined positioning of radiation source and electronic equipment |
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