低轨导航学习资料四-定位实验

文献阅读“New-Age Satellite-Based Navigation STAN: Simultaneous Tracking and Navigation with LEO Satellite Signals” ，2019，InsideGNSS，Zak Kassas Et Alia， University of California

新时代卫星引领下低轨卫星信号的同步跟踪和导航（STAN）

---

一、摘要

文章提出了一种基于LEO的导航信号跟踪和定位解算架构，利用LEO的伪距和Doppler观测量，基于无人机和地面车辆开展了仿真实验，验证了米级定位的潜能。

---

二、背景

现有低轨星座的卫星数目和信号频段（作者：关注信号频段并不相同，波音、StarLink和三星的星数远高于其他系统，且有共同的频段：V）。

在极端信号环境中，LEO可作为INS的得力辅助，原因如下。

其一，LEO的轨道高度约为GNSS MEO卫星的1/20，因此，信号强度大；

其二，LEO飞行速度快，Doppler变化明显；

其三，波音等众多卫星公司 are to provide broadband internet to the world via satellites will collectively bring thousands of new LEO satellites into operation, making their signals abundant and diverse in frequency and direction. 

LEO应用于导航领域面临的主要挑战如下。

1. 精密定轨难度大，大气等多种原因导致的轨道误差甚至可达3km；

2.LEO上多无原子钟载荷，因此其始终信息需已知，或由用户估计；

3.电离层延迟的影响增大，尤其是工作在VHF频段的LEO。

---

三、伪距和多普勒观测模型

1.伪距和多普勒观测模型

2.位置和速度误差

3.钟差

4.电离层延迟误差

The effect of ionospheric propagation is significant on LEO satellite signals since (i) the high speed of LEO satellites translates into very fast changing elevation angles, as shown in Figure 8 and (ii) some of the existing LEO satellites transmit in the VHF band where the signals experience very large delay rates. The aforementioned factors result in large ionospheric delay rates.

由于LEO卫星的飞行速度快，仰角变化快，导致电离层延迟的变化率很高。

---

四、STAN架构

需要注意的是，LEO的propagation和clock model参数需要用户同步估计。

---

五、试验验证

1. Orbcomm系统简介

分为三大部分： (i) subscriber communicators (users), (ii) ground segment (gateways), and (iii) space segment (constellation of satellites).

 The Orbcomm satellites have a subscriber transmitter that provides a continuous 4800 bits-per-second (bps) stream of packet data using symmetric differential-quadrature phase shift keying (SD-QPSK). Each satellite also has multiple subscriber receivers that receive short bursts from the SCs at 2400 bps. 

信号体制是SD-QPSK，发送端数据率是4800bps，接收端是2400bps。

Note that Orbcomm satellites are also equipped with a specially constructed 1-Watt ultra-high frequency (UHF) transmitter that is designed to emit a highly stable signal at 400.1 megahertz. The transmitter is coupled to a UHF antenna designed to have a peak gain of approximately 2 dB. The UHF signal is used by the Orbcomm system for SC positioning. However, experimental data shows that the UHF beacon is absent. Moreover, even if the UHF beacon were present, one would need to be a paying subscriber to benefit from positioning services. Consequently, in this work, only downlink VHF signals are used in the LEO-aided INS STAN.

Orbcomm还设计了UHF信号发送，增益可达2dB，用于SC之间的通信。

试验结果显示，车载LEO辅助的误差（RMSE）为416.5m，无人机的RMSE误差是5.4m。

（作者：看来LEO真正在导航领域发挥作用任重道远。）