高轨卫星天基定轨原理演示系统的设计与实现

以高轨卫星天基定轨原理作为理论基础,设计了一种在MATLAB仿真软件环境下运行的高轨卫星天基定轨原理演示系统。该系统实现了高轨及低轨用户星轨道仿真、全球导航卫星系统（GPS、GLONASS、Galileo和Compass）星座卫星仿真、高轨卫星及地面用户星对全球导航卫星系统的可见性仿真和高轨卫星天基定轨仿真。仿真结果表明：该系统具有效能高、清晰直观等优点,也具有较强的理论和现实意义。     

GPS精密星历的外推精度分析

列出了轨道拟合和轨道外推所用的摄动力模型,讨论了轨道拟合和轨道积分的过程。利用轨道拟合的方法拟合出高精度的初始轨道参数,在此基础上外推7天的轨道,将结果与IGS提供的最终星历比较,得出GPS轨道的外推精度:每颗卫星都是切向误差最显著,径向和法向的误差不明显;星蚀卫星的轨道外推精度明显低于一般卫星;问题卫星的轨道外推误差特别大。     

CEI对静止轨道共位卫星的轨道确定

主要考察了CEI对静止轨道共位卫星的轨道确定能力。仿真结果表明,利用CEI对共位卫星进行定轨时,需采用基线阵列。对于110°E共位卫星采用三亚-昆明基线阵列、10 km基线和2 d的数据,可使绝对轨道精度达百米级;外推至14 d时,相对轨道精度保持在m级。同样,要使绝对和相对轨道精度达到相同的量级,对于80°E共位卫星,需选用昆明-三亚基线阵列、100 km基线和1 d的观测弧段;对于140°E共位卫星,需选用上海-三亚基线阵列5、0 km基线和2 d的观测弧段。     

小型化LEO星座与BDS-3全星座联合定轨仿真

受限于区域监测站及地球静止轨道(geosynchronous earth orbit,GEO)卫星的静地特性,北斗卫星导航系统(BeiDou satellite navigation system,BDS)定轨精度较差,加入低轨卫星(low earth orbit,LEO)星载数据可显著提升定轨精度.使用一种由24颗L...     

北斗GEO/IGSO/MEO卫星定轨地面站构型影响分析及其优化

GNSS卫星定轨精度主要取决于卫星动力学模型精度和GNSS几何观测信息。由于北斗GEO/IGSO卫星静地、高轨特性,以及力学模型不精确等原因,地面几何观测信息对轨道改进至关重要。本文讨论了北斗GEO/IGSO/MEO卫星定轨地面站分布影响及优化改进方法。在简化动力学定轨模型基础上,探讨多历元几何观测信息累积对轨道的改进;研究了北斗导航卫星定轨理想几何构型条件,得到影响定轨精度的几何因子,包括测站数量、覆盖范围、分布密度;利用离散概率密度方法研究地面站构型,分析了3类卫星轨道改进机理和优化方法。通过算例,讨论了增加5个中国区域基准站改善离散概率密度指标,优化全球北斗卫星定轨构型,发现GEO和IGSO卫星精度改善最为明显,MEO卫星改善最小;其中GEO卫星提高了10%,IGSO卫星提高了16%,MEO卫星提高了4%。     

Orbit and clock analysis of Compass GEO and IGSO satellites

China is currently focussing on the establishment of its own global navigation satellite system called Compass or BeiDou. At present, the Compass constellation provides four usable satellites in geostationary Earth orbit (GEO) and five satellites in inclined geosynchronous orbit (IGSO). Based on a network of six Compass-capable receivers, orbit and clock parameters of these satellites were determined. The orbit consistency is on the 1–2 dm level for the IGSO satellites and on the several decimeter level for the GEO satellites. These values could be confirmed by an independent validation with satellite laser ranging. All Compass clocks show a similar performance but have a slightly lower stability compared to Galileo and the latest generation of GPS satellites. A Compass-only precise point positioning based on the products derived from the six-receiver network provides an accuracy of several centimeters compared to the GPS-only results.     

复杂结构卫星太阳辐射压模型的建立与分析

在卫星动力学定轨中,太阳辐射压是一个重要的摄动因素,特别是对中高轨卫星的轨道。为了消弱太阳辐射压的影响,已经建立有诸多太阳辐射压模型,对应方法主要包括解析和经验两类,但各有优缺点和适用范围。基于现有方法的优点和卫星实际运行环境,对复杂结构卫星建立了一种结合预先解析法采样和运行后自适应改正的联合方法以趋近卫星真实辐射压环境的太阳辐射压模型;并对该模型进行了模拟计算。结果表明,该模型在轨道计算和自校正过程均取得了良好的效果。     

Improving BeiDou precise orbit determination using observations of onboard MEO satellite receivers

In recent years, the precise orbit determination (POD) of the regional Chinese BeiDou Navigation Satellite System (BDS) has been a hot spot because of its special constellation consisting of five geostationary earth orbit (GEO) satellites and five inclined geosynchronous satellite orbit (IGSO) satellites besides four medium earth orbit (MEO) satellites since the end of 2012. GEO and IGSO satellites play an important role in regional BDS applications. However, this brings a great challenge to the POD, especially for the GEO satellites due to their geostationary orbiting. Though a number of studies have been carried out to improve the POD performance of GEO satellites, the result is still much worse than that of IGSO and MEO, particularly in the along-track direction. The major reason is that the geostationary characteristic of a GEO satellite results in a bad geometry with respect to the ground tracking network. In order to improve the tracking geometry of the GEO satellites, a possible strategy is to mount global navigation satellite system (GNSS) receivers on MEO satellites to collect the signals from GEO/IGSO GNSS satellites so as that these observations can be used to improve GEO/IGSO POD. We extended our POD software package to simulate all the related observations and to assimilate the MEO-onboard GNSS observations in orbit determination. Based on GPS and BDS constellations, simulated studies are undertaken for various tracking scenarios. The impact of the onboard GNSS observations is investigated carefully and presented in detail. The results show that MEO-onboard observations can significantly improve the orbit precision of GEO satellites from metres to decimetres, especially in the along-track direction. The POD results of IGSO satellites also benefit from the MEO-onboard data and the precision can be improved by more than 50% in 3D direction.     

Precise orbit determination for the GRACE mission using only GPS data

The GRACE (gravity recovery and climate experiment) satellites, launched in March 2002, are each equipped with a BlackJack GPS onboard receiver for precise orbit determination and gravity field recovery. Since launch, there have been significant improvements in the background force models used for satellite orbit determination, most notably the model for the geopotential. This has resulted in significant improvements to orbit accuracy for very low altitude satellites. The purpose of this paper is to investigate how well the orbits of the GRACE satellites (about 470 km in altitude) can currently be determined using only GPS data and based on the current models and methods. The orbit accuracy is assessed using a number of tests, which include analysis of orbit fits, orbit overlaps, orbit connecting points, satellite Laser ranging residuals and K-band ranging (KBR) residuals. We show that 1-cm radial orbit accuracy for the GRACE satellites has probably been achieved. These precise GRACE orbits can be used for such purposes as improving gravity recovery from the GRACE KBR data and for atmospheric profiling, and they demonstrate the quality of the background force models being used.     

持续性全球多重覆盖的圆轨道导航星座的设计

首先描述卫星覆盖的理论以及卫星星下点在地面上的轨迹规律,然后根据导航星座的特点,通过对星座基本参数特点的讨论,并在参考GPS和GLONASS星座的基础上,确定了导航星座的构成。最后,在理论上证明了最小覆盖性的条件,随着模拟实际数据进行了验证。     

地球重力场模型对低轨卫星轨道积分的影响

介绍3种不同的地球重力场模型及其(约化)动力学定轨中所涉及的动力学模型,并基于Collocation轨道积分方法对CHAMP卫星进行数值积分,然后将轨道积分结果与JPL快速精密星历相比较。实验结果表明,由CHAMP卫星SST数据反演生成的EIGEN-2模型引力位系数具有较高的精度,能够满足低轨卫星精密定轨的需要。     

EOP预报误差对导航卫星轨道预报的影响分析

导航卫星轨道预报是利用精密定轨结果在惯性系下进行轨道外推,再将外推得到的惯性系轨道转换为地固系轨道,然后生成卫星星历数据。由于坐标系转换时使用的是带有误差的地球定向参数（EOP：Earth Orientation Parameters）预报值,转换结果会产生误差,进而影响轨道预报结果的精度。分析了EOP快速预报产品公报A的预报精度,研究了参数预报误差对轨道预报精度的影响。结果表明,对于利用GPS精密星历外推模拟得到的卫星轨道而言,EOP预报1天引起的轨道预报误差大致分布在0．232±0．183m,参数预报7天引起的轨道预报误差大致分布在0．438±0．356m。     

顾及星座稳定性及综合成本的低轨导航星座优化设计方法

利用低轨道地球卫星(LEO)进行导航增强首先需要设计低轨星座,在进行星座构型设计时,星座的稳定性及综合成本是需要考虑的两个重要因素,本文提出了顾及星座稳定性及综合成本进行低轨导航星座优化设计的方法. 首先,利用遗传算法对铱星星座进行了优化,优化后的铱星星座与未优化前星座相比较,全球可见卫星数均值由2.3颗增至2.9颗,可见卫星数标准差由2.3降至0.7,综合成本因子由5.3降至4.5,证明了本方法的有效性. 然后以Walker星座作为基本构型,在保证低轨混合星座稳定性的基础上,顾及导航性能和综合成本,利用遗传算法进行了混合星座的优化. 将优化后的低轨混合星座与北斗星座进行了组合,组合后的星座与北斗星座相比较,全球可见卫星数均值由6.9颗增至9.3颗,可见卫星数标准差由1.1降至0.4.      

Initial results of centralized autonomous orbit determination of the new-generation BDS satellites with inter-satellite link measurements

Autonomous orbit determination is the ability of navigation satellites to estimate the orbit parameters on-board using inter-satellite link (ISL) measurements. This study mainly focuses on data processing of the ISL measurements as a new measurement type and its application on the centralized autonomous orbit determination of the new-generation Beidou navigation satellite system satellites for the first time. The ISL measurements are dual one-way measurements that follow a time division multiple access (TDMA) structure. The ranging error of the ISL measurements is less than 0.25 ns. This paper proposes a derivation approach to the satellite clock offsets and the geometric distances from TDMA dual one-way measurements without a loss of accuracy. The derived clock offsets are used for time synchronization, and the derived geometry distances are used for autonomous orbit determination. The clock offsets from the ISL measurements are consistent with the L-band two-way satellite, and time–frequency transfer clock measurements and the detrended residuals vary within 0.5 ns. The centralized autonomous orbit determination is conducted in a batch mode on a ground-capable server for the feasibility study. Constant hardware delays are present in the geometric distances and become the largest source of error in the autonomous orbit determination. Therefore, the hardware delays are estimated simultaneously with the satellite orbits. To avoid uncertainties in the constellation orientation, a ground anchor station that “observes” the satellites with on-board ISL payloads is introduced into the orbit determination. The root-mean-square values of orbit determination residuals are within 10.0 cm, and the standard deviation of the estimated ISL hardware delays is within 0.2 ns. The accuracy of the autonomous orbits is evaluated by analysis of overlap comparison and the satellite laser ranging (SLR) residuals and is compared with the accuracy of the L-band orbits. The results indicate that the radial overlap differences between the autonomous orbits are less than 15.0 cm for the inclined geosynchronous orbit (IGSO) satellites and less than 10.0 cm for the MEO satellites. The SLR residuals are approximately 15.0 cm for the IGSO satellites and approximately 10.0 cm for the MEO satellites, representing an improvement over the L-band orbits.     

Beidou satellite maneuver thrust force estimation for precise orbit determination

Beidou satellites, especially geostationary earth orbit (GEO) and inclined geosynchronous orbit (IGSO) satellites, need to be frequently maneuvered to keep them in position due to various perturbations. The satellite ephemerides are not available during such maneuver periods. Precise estimation of thrust forces acting on satellites would provide continuous ephemerides during maneuver periods and could significantly improve orbit accuracy immediately after the maneuver. This would increase satellite usability for both real-time and post-processing applications. Using 1 year of observations from the Multi-GNSS Experiment network (MGEX), we estimate the precise maneuver periods for all Beidou satellites and the thrust forces. On average, GEO and IGSO satellites in the Beidou constellation are maneuvered 12 and 2 times, respectively, each year. For GEO satellites, the maneuvers are mainly in-plane, while out-of-plane maneuvers are observed for IGSO satellites and a small number of GEO satellites. In most cases, the Beidou satellite maneuver periods last 15–25 min, but can be as much as 2 h for the few out-of-plane maneuvers of GEO satellites. The thrust forces acting on Beidou satellites are normally in the order of 0.1–0.7 mm/s². This can cause changes in velocity of GEO/IGSO satellites in the order of several decimeters per second. In the extreme cases of GEO out-of-plane maneuvers, very large cross-track velocity changes are observed, namely 28 m/s, induced by 5.4 mm/s² thrust forces. Also, we demonstrate that by applying the estimated thrust forces in orbit integration, the orbit errors can be estimated at decimeter level in along- and cross-track directions during normal maneuver periods, and 1–2 m in all the orbital directions for the enormous GEO out-of-plane maneuver.     

偏航姿态对GPS和GLONASS精密轨道和钟差的影响

利用全球约110个国际GNSS服务（International GNSS Service,IGS）测站2013年全年观测数据,分析和研究了GPS和全球卫星导航系统（global navigation satellite system,GLONASS）卫星偏航姿态对其精密轨道和钟差的影响。结果表明,偏航姿态对不同型号GPS卫星轨道和钟差的影响程度不同,当采用偏航姿态改正后地影期的BLOCK ⅡA型卫星轨道改善可达17 mm,BLOCK ⅡF为近5 mm,而BLOCK ⅡR几乎不受影响。由于偏航姿态对GLONASS-M卫星定轨精度影响较大,因此,当改正偏航姿态后所有GLONASS卫星相对于IGS最终轨道平均一维差异提高10 mm,相对于德国地学中心（German Research Center for Geosciences,GFZ）最终钟差平均标准差提升0.034 ns。     

GPS纯几何法在低轨卫星定轨中的应用

在近地低轨卫星上安装GPS接收机,并同时能捕获到四颗GPS卫星的话,我们就可以直接利用GPS观测值来组成观测方程,解算被求卫星的轨道位置。但由于GPS卫星是为地面上的用户设计的,其主要是满足地面用户的导航定位要求,再加上近地卫星的高动态性、高速度性,有时还不能同时捕获到四颗GPS卫星,这都给近地卫星的定轨带来了不确定的因素。本文主要对这一想法进行了试验,并分析了定轨的精度。     

北斗混合星座分层约束下的精密定轨方法

针对北斗导航卫星系统首创的GEO+IGSO+MEO混合星座设计,本文研究了根据不同星座,采取不同约束条件和数据处理策略的北斗卫星精密定轨方法,提出了一种针对北斗系统混合星座的分层约束精密定轨方案。该方案首先将北斗卫星分为非GEO(IGSO/MEO)和GEO两部分进行解算,利用GPS解算的公共参数对北斗IGSO/MEO精密定轨形成有效约束,然后固定GPS和北斗IGSO/MEO解算结果,最后单独对北斗GEO卫星进行强约束下的轨道解算。利用实测数据进行了精密定轨试验,试验结果表明:采用本文提出的方法,北斗GEO卫星和非GEO卫星三维重叠弧段轨道精度分别为0.688 m和0.042 m,比传统方法分别提高了54.2%和72.4%。另外,采用激光测距检核和测站坐标静态精密单点定位的方法对轨道精度进行了验证,激光检核精度提高了44.3%,测站坐标在水平和高程方向上精度分别平均提升了21.5%和20.7%。     

星地跟踪网的导航卫星精密轨道确定及预报

针对区域跟踪网不能覆盖导航卫星全弧段从而导致卫星定轨精度低的问题,简述了导航卫星和低轨卫星联合定轨模型,然后利用星地跟踪网观测数据同时确定了低轨卫星和导航卫星精密轨道,并根据实验结果详细分析了低轨卫星在联合定轨中所起到的作用。计算结果表明,引入低轨卫星之后,全球网和区域网定轨精度分别平均提高了20.0%和44.3%,区域网6h和24h的轨道预报精度分别优于10cm、13cm,利用星地跟踪网观测数据联合定轨方案是一种提高定轨精度并削弱对地面站依赖性的有效方法。     

Galileo status: orbits,clocks, and positioning

The European Global Navigation Satellite System Galileo is close to declaration of initial services. The current constellation comprises a total of 12 active satellites, four of them belonging to the first generation of In-Orbit Validation satellites, while the other eight are Full Operational Capability (FOC) satellites. Although the first pair of FOC satellites suffered from a launch anomaly resulting in an elliptical orbit, these satellites can be used for scientific applications without relevant limitations. The quality of broadcast orbits and clocks has significantly improved since the beginning of routine transmissions and has reached a signal-in-space range error of 30 cm. Precise orbit products generated by the scientific community achieve an accuracy of about 5 cm if appropriate models for the solar radiation pressure are applied. The latter is also important for an assessment of the clock stability as orbit errors are mapped to the apparent clock. Dual-frequency single point positioning with broadcast orbits and clocks of nine Galileo satellites that have so far been declared healthy already enables an accuracy at a few meters. Galileo-only precise point positioning approaches a precision of 2 cm in static mode using daily solutions.