阅读说明：本技术 适用于地面测站天线对卫星指向的目标视向量确定方法 (Target view vector determination method suitable for pointing of ground survey station antenna to satellite ) 是由 吕旺 刘登岭 俞航 凌惠祥 陆启省 司力琼 辛阁霖 于 2020-03-19 设计创作，主要内容包括：本发明提供了一种适用于地面测站天线对卫星指向的目标视向量确定方法,包括：(1)惯性系卫星位置计算步骤；(2)目标时刻秒计数值计算步骤；(3)地固系卫星位置计算步骤；(4)地固系测站天线位置计算步骤；(5)站心系目标视向量投影计算步骤。本发明假设内容较少,考虑卫星实际运行情况计算地面测站天线对卫星的指向,有效解决了地面测站天线对卫星指向的目标视向量确定的问题,而且达到了比较高的定位精度。(The invention provides a method for determining a target view vector suitable for a ground survey station antenna to point to a satellite, which comprises the following steps: (1) calculating the position of the inertial system satellite; (2) calculating a target time second counting value; (3) a step of calculating the position of the earth-fixed satellite; (4) calculating the position of the antenna of the earth-fixed system measuring station; (5) the station center is a projection calculation step of the target visual vector. The method has less assumed content, calculates the direction of the ground survey station antenna to the satellite by considering the actual running condition of the satellite, effectively solves the problem of determining the target view vector of the direction of the ground survey station antenna to the satellite, and achieves higher positioning precision.)

1. A method for determining a target view vector suitable for pointing a satellite by a ground station antenna is characterized by comprising the following steps:

calculating the position of the inertial system satellite: according to a given target time t₁Computing t from ephemeris information of₁Position R of time satellite under inertial system_wECI；

Calculating a target time second counting value: according to a given target time t₁Calculating a second count value t of epoch J2000.0 to a predetermined target time_c；

And a step of calculating the position of the earth-fixed satellite: the position R of the satellite under the inertial system is obtained according to the calculation_wECIAnd a second count value t_cCalculating t₁Position R of time satellite under earth's fixation_wECF；

And the antenna position calculation step of the earth-fixed system survey station: according to the longitude, latitude and elevation of the given ground measurement station antenna, the position R of the ground measurement station antenna under the ground fixation system is calculated_tECF；

A step of calculating the projection of the target visual vector of the station center system: according to the calculated t₁Position R of time satellite under earth's fixation_wECFAnd the calculated position R of the ground survey station antenna under the ground fixing system_tECFCalculating t₁Projection R of target view vector pointed by ground survey station antenna to satellite under station center system at moment_wCT。

2. The method for determining the target view vector of the earth station antenna relative to the satellite orientation according to claim 1, wherein the inertial system satellite position calculating step comprises:

the target time t₁UTC time;

the calculation of t₁Position R of time satellite under inertial system_wECIThe method comprises the following steps:

inputting a target time t₁The ephemeris information of (a) is stored in the memory,the method comprises the following steps: the device comprises a track semi-major axis a, a track eccentricity e, a track inclination angle i, a rising intersection declination omega, an argument omega of a near place and an average and near point angle M;

calculating t₁Position R of time satellite under inertial system_wECI：

R_wECI＝Q*r_p

Wherein the content of the first and second substances,

the rotation matrix Q is described in the order of 3-1-3 rotations:

vector r_p：

Wherein the content of the first and second substances,

M₁true proximal angle:

。

3. the method for determining the target sight vector of the earth station antenna for pointing to the satellite according to claim 2, wherein the target time second counting value calculating step:

calculating a second count value t of epoch J2000.0 to a given target time_cThe method comprises the following steps:

input t₁Year, month, day, hour, minute, second of the moment, calculate julian day JD:

wherein the content of the first and second substances,

floor () is a round-down operation;

calculating a second count value t from epoch J2000.0 to a given target time based on the julian day JD_c：

t_c＝(JD-2455197.5)×86400+315547200 。

4. The method for determining the target view vector of the earth-based station antenna with respect to the satellite orientation as claimed in claim 2, wherein the earth-based satellite position calculating step comprises:

calculating t₁Position R of time satellite under earth's fixation_wECFThe method comprises the following steps:

according to the epoch J2000.0 obtained by calculating the target time second counting value to the second counting value t of the given target time_cCalculating a rotation matrix ER, a nutation matrix NR and a precision matrix PR of the earth, and calculating a conversion matrix M from an inertia system to a ground-fixed system_ECI2ECF：

M_ECI2ECF＝ER*NR*PR

And calculating t according to the position of the inertial system satellite₁Position R of time satellite under inertial system_wECICalculating t₁Position R of time satellite under earth's fixation_wECF：

R_wECF＝M_ECI2ECF*R_wECI。

5. The method for determining the target view vector of the earth-based survey station antenna relative to the satellite orientation of claim 2 wherein the earth-based survey station antenna position calculating step comprises:

calculating the position R of the ground survey station antenna under the ground fixing system_tECFThe method comprises the following steps:

inputting longitude lon, latitude lat and elevation h of an antenna of the ground station;

computing coordinate components G1, G2:

wherein the content of the first and second substances,

re represents the Earth's equatorial radius;

f is the geometric oblateness of the earth ellipsoid, and f is 1/298.257;

calculating the position R of the ground survey station antenna under the ground fixing system_tECF：

。

6. The method for determining the target view vector of the earth station antenna with respect to the satellite orientation as claimed in claim 2, wherein the step of calculating the projection of the target view vector of the station center system comprises:

calculating t₁The method for projecting the target view vector pointed by the satellite by the ground survey station antenna under the station center system at the moment comprises the following steps:

under the system of the station center, a conversion matrix M from the earth fixation system to the system of the station center is calculated_ECF2CTDescribed as one rotation about the Z-axis of the earth fixation system and one rotation about the X-axis of the earth fixation system:

M_ECF2CT＝R_x(90°-lat)R_z(90°+lon)

wherein the content of the first and second substances,

lon is the geographical longitude of the antenna of the ground survey station;

lat is the geographical latitude of the antenna of the ground station;

and calculating t according to the position of the geostationary satellite₁Position R of time satellite under earth's fixation_wECFAnd the position R of the ground survey station antenna under the ground system, which is obtained by the calculation of the position of the ground survey station antenna in the ground system survey station antenna position calculation step_tECFCalculating t₁Target view of satellite pointing by antenna of time ground survey stationProjection R of vector under standing center system_wCT：

R_wCT＝M_ECF2CT*(R_wECF-R_tECF) 。

Technical Field

The invention relates to the field of satellite attitude and orbit control, in particular to a target view vector determination method suitable for a ground survey station antenna to point to a satellite.

Background

With the development of the space detection technology, higher and higher requirements are put forward on the tracking and searching capabilities of a radar antenna, because a satellite signal is weak and has strong directivity, in order to capture a communication signal on a moving satellite, the deviation between the attitude of the antenna and the position of the satellite must be adjusted in real time to meet the communication requirement, because the signal-to-noise ratio of link transmission information is reduced due to the satellite-to-ground directional deviation, and if the signal-to-noise ratio exceeds the maximum station tolerance, the signal loss phenomenon can even occur. This requires that the direction of the radar antenna to the satellite must be more accurate, and therefore, it is of general significance to design a method for determining a target view vector of the direction of the satellite by the ground station antenna with high direction accuracy.

The existing research on satellite-ground pointing algorithms in China mostly focuses on the optimization design of pointing of a satellite to a ground survey station under the condition that the position of the ground survey station is fixed, and the research on the pointing guidance of a ground survey station antenna to the satellite is less. Aiming at the actual situation, the invention provides a method for determining the target view vector pointed by the ground survey station antenna to the satellite, which is used for the ground survey station antenna and has higher precision, so that the ground survey station antenna can be used for accurately pointing the satellite.

The patent "a method for controlling the pointing direction of a dual-axis antenna to the ground around a moon satellite" (patent number: CN101204994A) describes a method for calculating the pointing direction of a satellite to the earth center around a moon satellite, which estimates the position of the satellite according to ephemeris data on the ground, calculates the visible area of the satellite to the earth, and calculates the pointing angle of the dual-axis antenna. The patent is directed to the geocenter, does not orient the surface location, and is mainly calculated in combination with a moon-related coordinate system. The invention is different from the method in that the calculation is mainly combined with the earth and the earth surface position related coordinate system to complete the position calculation of the ground survey station antenna and the directional calculation of the ground survey station antenna to the satellite.

The patent "simulation analysis method of pointing angle of data transmission antenna" (patent number: CN105184002A) introduces a method for calculating pointing direction of satellite-borne data transmission antenna to ground station, which uses existing satellite orbit simulation software STK to perform simulation solution on actual position of satellite and calculates two-dimensional pointing angle of data transmission antenna. The disadvantage of the patent is that the satellite position calculation depends on the satellite orbit simulation software STK, no specific calculation process is needed, the description of the coordinate system conversion is simple, and no algorithm of a conversion matrix is given. The invention has the advantages of providing a method for calculating the actual position of the satellite according to the orbit parameters of the satellite at the appointed time without depending on STK software and designing a set of detailed calculation flow of a related coordinate system conversion matrix.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a method for determining a target view vector suitable for a ground station antenna to point to a satellite.

The method for determining the target view vector suitable for the satellite pointing by the ground station antenna comprises the following steps:

calculating the position of the inertial system satellite: according to a given target time t₁Computing t from ephemeris information of₁Position R of time satellite under inertial system_wECI；

Calculating a target time second counting value: according to a given target time t₁Calculating a second count value t of epoch J2000.0 to a predetermined target time_c；

And a step of calculating the position of the earth-fixed satellite: the position R of the satellite under the inertial system is obtained according to the calculation_wECIAnd a second count value t_cCalculating t₁Position R of time satellite under earth's fixation_wECF；

And the antenna position calculation step of the earth-fixed system survey station: according to the longitude, latitude and elevation of the given ground measurement station antenna, the position R of the ground measurement station antenna under the ground fixation system is calculated_tECF；

A step of calculating the projection of the target visual vector of the station center system: according to the calculated t₁Position R of time satellite under earth's fixation_wECFAnd the calculated position of the antenna of the ground survey station on the groundPosition R under anchoring_tECFCalculating t₁Projection R of target view vector pointed by ground survey station antenna to satellite under station center system at moment_wCT。

Preferably, the inertial system satellite position calculating step:

the target time t₁UTC time;

the calculation of t₁Position R of time satellite under inertial system_wECIThe method comprises the following steps:

inputting a target time t₁Includes: the device comprises a track semi-major axis a, a track eccentricity e, a track inclination angle i, a rising intersection declination omega, an argument omega of a near place and an average and near point angle M;

calculating t₁Position R of time satellite under inertial system_wECI：

R_wECI＝Q*r_p

Wherein the content of the first and second substances,

the rotation matrix Q is described in the order of 3-1-3 rotations:

vector r_p：

Wherein the content of the first and second substances,

M₁true proximal angle:

preferably, the target time second counting value calculating step:

calculating a second count value t of epoch J2000.0 to a given target time_cThe method comprises the following steps:

input t₁Year, month, day, hour, minute, second of the moment, calculate julian day JD:

wherein the content of the first and second substances,

floor () is a round-down operation;

calculating a second count value t from epoch J2000.0 to a given target time based on the julian day JD_c：

t_c＝(JD-2455197.5)×86400+315547200

Preferably, the geo-stationary satellite position calculating step:

calculating t₁Position R of time satellite under earth's fixation_wECFThe method comprises the following steps:

according to the epoch J2000.0 obtained by calculating the target time second counting value to the second counting value t of the given target time_cCalculating a rotation matrix ER, a nutation matrix NR and a precision matrix PR of the earth, and calculating a conversion matrix M from an inertia system to a ground-fixed system_ECI2ECF：

M_ECI2ECF＝ER*NR*PR

And calculating t according to the position of the inertial system satellite₁Position R of time satellite under inertial system_wECICalculating t₁Position R of time satellite under earth's fixation_wECF：

R_wECF＝M_ECI2ECF*R_wECI

Preferably, the step of calculating the antenna position of the geostationary survey station comprises:

calculating the position R of the ground survey station antenna under the ground fixing system_tECFThe method comprises the following steps:

inputting longitude lon, latitude lat and elevation h of an antenna of the ground station;

computing coordinate components G1, G2:

wherein the content of the first and second substances,

re represents the Earth's equatorial radius;

f is the geometric oblateness of the earth ellipsoid, and f is 1/298.257;

calculating the position R of the ground survey station antenna under the ground fixing system_tECF：

Preferably, the step of calculating the centroid system target view vector projection comprises:

calculating t₁The method for projecting the target view vector pointed by the satellite by the ground survey station antenna under the station center system at the moment comprises the following steps:

under the system of the station center, a conversion matrix M from the earth fixation system to the system of the station center is calculated_ECF2CTDescribed as one rotation about the Z-axis of the earth fixation system and one rotation about the X-axis of the earth fixation system:

M_ECF2CT＝R_x(90°-lat)R_z(90°+lon)

wherein the content of the first and second substances,

lon is the geographical longitude of the antenna of the ground survey station;

lat is the geographical latitude of the antenna of the ground station;

and calculating t according to the position of the geostationary satellite₁Position R of time satellite under earth's fixation_wECFAnd the position R of the ground survey station antenna under the ground system, which is obtained by the calculation of the position of the ground survey station antenna in the ground system survey station antenna position calculation step_tECFCalculating t₁Projection R of target view vector pointed by ground survey station antenna to satellite under station center system at moment_wCT：

R_wCT＝M_ECF2CT*(R_wECF-R_tECF)

Compared with the prior art, the invention has the following beneficial effects:

the method has less assumed content, calculates the direction of the ground survey station antenna to the satellite by considering the actual running condition of the satellite, effectively solves the problem of determining the target view vector of the direction of the ground survey station antenna to the satellite, and achieves higher positioning precision.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

fig. 1 is a schematic flow chart of a method for determining a target view vector of a satellite pointing direction by an antenna of a ground station.

Fig. 2 is a schematic view of the earth station antenna on the view vector of the satellite.

FIG. 3 shows a standing system O_CTX_CTY_CTZ_CTSchematic representation.

FIG. 4 is a schematic diagram of a variation curve of satellite positions under the inertial system.

FIG. 5 is a diagram illustrating a variation curve of the position of a satellite in the Earth's fixation system.

Fig. 6 is a schematic diagram of a projection variation curve of a target view vector pointed by a ground station antenna to a satellite under a station center system.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.

The method for determining the target view vector suitable for the satellite pointing by the ground station antenna comprises the following steps:

calculating the position of the inertial system satellite: according to a given target time t₁Computing t from ephemeris information of₁Time of day satellite isPosition under inertial system R_wECI；

Calculating a target time second counting value: according to a given target time t₁Calculating a second count value t of epoch J2000.0 to a predetermined target time_c；

And a step of calculating the position of the earth-fixed satellite: the position R of the satellite under the inertial system is obtained according to the calculation_wECIAnd a second count value t_cCalculating t₁Position R of time satellite under earth's fixation_wECF；

And the antenna position calculation step of the earth-fixed system survey station: according to the longitude, latitude and elevation of the given ground measurement station antenna, the position R of the ground measurement station antenna under the ground fixation system is calculated_tECF；

A step of calculating the projection of the target visual vector of the station center system: according to the calculated t₁Position R of time satellite under earth's fixation_wECFAnd the calculated position R of the ground survey station antenna under the ground fixing system_tECFCalculating t₁Projection R of target view vector pointed by ground survey station antenna to satellite under station center system at moment_wCT。

Specifically, the inertial system satellite position calculating step:

the target time t₁UTC time;

the calculation of t₁Position R of time satellite under inertial system_wECIThe method comprises the following steps:

inputting a target time t₁Includes: the device comprises a track semi-major axis a, a track eccentricity e, a track inclination angle i, a rising intersection declination omega, an argument omega of a near place and an average and near point angle M;

calculating t₁Position R of time satellite under inertial system_wECI：

R_wECI＝Q*r_p

Wherein the content of the first and second substances,

the rotation matrix Q is described in the order of 3-1-3 rotations:

vector r_p：

Wherein the content of the first and second substances,

M₁true proximal angle:

specifically, the target time second counting value calculating step:

calculating a second count value t of epoch J2000.0 to a given target time_cThe method comprises the following steps:

input t₁Year, month, day, hour, minute, second of the moment, calculate julian day JD:

wherein the content of the first and second substances,

floor () is a round-down operation;

calculating a second count value t from epoch J2000.0 to a given target time based on the julian day JD_c：

t_c＝(JD-2455197.5)×86400+315547200

Specifically, the geostationary satellite position calculation step:

calculating t₁Position R of time satellite under earth's fixation_wECFThe method comprises the following steps:

according to the epoch J2000.0 obtained by calculating the target time second counting value to the second counting value t of the given target time_cCalculating a rotation matrix ER, a nutation matrix NR and a precision matrix PR of the earth, and calculating a conversion matrix M from an inertia system to a ground-fixed system_ECI2ECF：

M_ECI2ECF＝ER*NR*PR

And calculating t according to the position of the inertial system satellite₁Position R of time satellite under inertial system_wECIMeter for measuringCalculating t₁Position R of time satellite under earth's fixation_wECF：

R_wECF＝M_ECI2ECF*R_wECI

Specifically, the step of calculating the antenna position of the geostationary survey station comprises:

calculating the position R of the ground survey station antenna under the ground fixing system_tECFThe method comprises the following steps:

inputting longitude lon, latitude lat and elevation h of an antenna of the ground station;

computing coordinate components G1, G2:

wherein the content of the first and second substances,

re represents the Earth's equatorial radius;

f is the geometric oblateness of the earth ellipsoid, and f is 1/298.257;

calculating the position R of the ground survey station antenna under the ground fixing system_tECF：

Specifically, the step of calculating the projection of the view vector of the station center system target comprises:

calculating t₁The method for projecting the target view vector pointed by the satellite by the ground survey station antenna under the station center system at the moment comprises the following steps:

under the system of the station center, a conversion matrix M from the earth fixation system to the system of the station center is calculated_ECF2CTDescribed as one rotation about the Z-axis of the earth fixation system and one rotation about the X-axis of the earth fixation system:

M_ECF2CT＝R_x(90°-lat)R_z(90°+lon)

wherein the content of the first and second substances,

lon is the geographical longitude of the antenna of the ground survey station;

lat is the geographical latitude of the antenna of the ground station;

and calculating t according to the position of the geostationary satellite₁Position R of time satellite under earth's fixation_wECFAnd the position R of the ground survey station antenna under the ground system, which is obtained by the calculation of the position of the ground survey station antenna in the ground system survey station antenna position calculation step_tECFCalculating t₁Projection R of target view vector pointed by ground survey station antenna to satellite under station center system at moment_wCT：

R_wCT＝M_ECF2CT*(R_wECF-R_tECF)

The present invention will be described more specifically below with reference to preferred examples.

Preferred example 1:

the technical problem to be solved by the invention is as follows: the method is characterized in that the projection of the target view vector pointed by the ground survey station antenna to the satellite under the station center system is finally obtained through satellite orbit correlation calculation and conversion calculation of a plurality of correlation coordinate systems by the satellite ephemeris data of a given target moment and the geographical position information of the ground survey station antenna.

The method for determining the target view vector pointed by the ground station antenna to the satellite calculates the position of the satellite in real time through the satellite ephemeris information, considers the influence factors of the coordinate system conversion relation comprehensively, has high calculation precision, and effectively meets the requirement of the ground station antenna on accurate satellite orientation in real time.

The technical solution of the invention comprises the following specific steps:

(1) according to a given target time t₁Ephemeris information of (UTC time), and calculationt₁Position R of time satellite under inertial system_wECI：

Inputting a target time t₁Includes: the track comprises a semi-major axis a of the track, an eccentricity e of the track, a track inclination angle i, a rising intersection declination omega, an amplitude angle omega at a near place and an average angle M at a near point. Calculating t₁Position R of time satellite under inertial system_wECI：

R_wECI＝Q*r_p

Wherein the rotation matrix Q is described in a 3-1-3 rotation order:

vector r_p：

Wherein M is₁True proximal angle:

(2) according to a given target time t₁Calculating a second counting value t from epoch J2000.0 (1/12/2000) to a predetermined target time_c：

Input t₁Year (year), month (month), day (day), hour (hour), minute (min), and second (sec) of time (UTC time), julian day JD is calculated:

wherein floor () is a round-down operation.

Calculating a second counting value t from epoch J2000.0 (1 month, 1 day, 12 hours in 2000) to a given target time according to the julian day JD_c：

t_c＝(JD-2455197.5)×86400+315547200

(3) According to the step (1) and the step (2) respectivelyCalculated position R of satellite under inertial system_wECIAnd a second count value t_cCalculating t₁Position R of time satellite under earth's fixation_wECF：

A second counting value t from epoch J2000.0 (1 month, 1 day, 12 days 2000) to a given target time calculated according to the step (2)_cAnd calculating a terrestrial rotation matrix ER, a nutation matrix NR and a time offset matrix PR, wherein the term is not considered in the invention because polar shift has little influence on the calculation of the conversion matrix. Calculating a transformation matrix M from an inertial system to a ground-based system_ECI2ECF：

M_ECI2ECF＝ER*NR*PR

And calculating t according to the step (1)₁Position R of time satellite under inertial system_wECICalculating t₁Position R of time satellite under earth's fixation_wECF：

R_wECF＝M_ECI2ECF*R_wECI

(4) According to the longitude, latitude and elevation of the given ground measurement station antenna, the position R of the ground measurement station antenna under the ground fixation system is calculated_tECF：

And inputting longitude lon, latitude lat and elevation h of the antenna of the ground station.

Computing coordinate components G1, G2:

wherein f is the geometric oblateness of the earth ellipsoid, and f is 1/298.257.

Calculating the position R of the ground survey station antenna under the ground fixing system_tECF：

(5) T calculated according to the step (3)₁Position of time satellite under earth fixationR_wECFAnd the position R of the ground survey station antenna calculated in the step (4) under the ground system_tECFCalculating t₁Projection R of target view vector pointed by ground survey station antenna to satellite under station center system at moment_wCT；

Under the system of the station center, a conversion matrix M from the earth fixation system to the system of the station center is calculated_ECF2CTDescribed as one rotation about the Z-axis of the earth fixation system and one rotation about the X-axis of the earth fixation system:

M_ECF2CT＝R_x(90°-lat)R_z(90°+lon)

wherein lon is the geographic longitude of the antenna of the ground survey station; lat is the geographic latitude of the ground station antenna.

And according to t calculated in the step (3)₁Position R of time satellite under earth's fixation_wECFThe position R of the ground survey station antenna under the ground fixation system calculated in the step (4)_tECFCalculating t₁Projection R of target view vector pointed by ground survey station antenna to satellite under station center system at moment_wCT：

R_wCT＝M_ECF2CT*(R_wECF-R_tECF)

Preferred example 2:

the coordinate system required by the invention is as follows: the inertial system is a J2000.0 inertial coordinate system, and the earth fixation system is a WGS-84 coordinate system. The definition of the station center system is given below.

Standing heart system O_CTX_CTY_CTZ_CT

The center of the station is defined as the origin O_CTIs the ground antenna origin, the basic plane O_CTX_CTY_CTThe surface is a local horizontal surface, O_CTX_CTPointing to true north, O, along the meridian of the local area_CTZ_CTVertical base plane pointing to zenith, O_CTY_CTDetermined by the right hand rule, as shown in FIG. 3.

The calculation process of the present invention is detailed below:

the simulation of this algorithm was verified using MAT L AB, with the earth-related parameters and the station center set as described above, and the ephemeris data for a certain model of satellite at UTC time 2018, 12/3/8 is as follows:

and (3) starting directional calculation on the satellite from 12, 3 and 8 in 2018 of UTC time, wherein the simulation step length is 1s, continuously simulating the projection of a target view vector pointed by the ground station antenna to the satellite under a station center system for 30 minutes, and obtaining satellite ephemeris data of every 1s as input through STK simulation.

(1) According to a given target time (UTC time) t₁Computing t from ephemeris information of₁Position R of time satellite under inertial system_wECI. The specific calculation process is as follows:

according to t₁Includes: the track comprises a semi-major axis a of the track, an eccentricity e of the track, a track inclination angle i, a rising intersection declination omega, an amplitude angle omega at a near place and an average angle M at a near point. Calculating t₁Position R of time satellite under inertial system_wECIThe obtained position variation curve of the satellite under the inertial system is shown in fig. 4:

R_wECI＝Q*r_p

wherein the rotation matrix Q is described in a 3-1-3 rotation order:

vector r_p：

Wherein M is₁True proximal angle:

(2) according to a given target time t₁Calculating a second counting value t from epoch J2000.0 (1/12/2000) to a predetermined target time_c. The method comprises the following specific steps:

input t₁Year (year), month (month), day (day), hour (hour), minute (min), and second (sec) of time (UTC time), julian day JD is calculated:

wherein floor () is a round-down operation.

Calculating a second counting value t from epoch J2000.0 (1 month, 1 day, 12 hours in 2000) to a given target time according to the julian day JD_c：

t_c＝(JD-2455197.5)×86400+315547200

(3) The position R of the satellite under the inertial system is calculated according to the step (1) and the step (2)_wECIAnd a second count value t_cCalculating t₁Position R of time satellite under earth's fixation_wECF. The method comprises the following specific steps:

firstly, a terrestrial rotation matrix ER, a nutation matrix NR and a precision matrix PR are calculated. The specific calculation method is explained below:

calculating a yellow meridian nutation delta psi, a yellow-red intersection angle and an intersection angle nutation delta:

wherein, T_2kRelative epoch J2000.0 (1 month, 1 day, 12 of 2000):

the earth rotation matrix ER calculation method comprises the following steps:

calculating the declination nutation delta mu:

Δμ＝Δψ*cos

calculating Greenwich mean time

Calculating greenwich mean time S_G：

Calculating an earth rotation matrix ER:

the nutation matrix NR calculation method comprises the following steps:

NR＝R_X(--Δ)R_Z(-Δψ)R_X()

wherein the content of the first and second substances,

the calculation method of the age matrix PR comprises the following steps:

calculating the age constant ζ_A、θ_A、Z_A：

Calculating a time offset matrix PR:

PR＝R_Z(-Z_A)R_Y(θ_A)R_Z(-ζ_A)

wherein the content of the first and second substances,

calculating a conversion matrix M from an inertia system to a ground-fixed system according to the earth rotation matrix ER, the nutation matrix NR and the precision matrix PR_ECI2ECF：

M_ECI2ECF＝ER*NR*PR

And calculating t according to the step (1)₁The position of the satellite under the inertial system at the moment is calculated₁Position R of time satellite under earth's fixation_wECFThe obtained satellite position variation curve under the earth-fixed system is shown in fig. 5:

R_wECF＝M_ECI2ECF*R_wECI

(4) according to the longitude, latitude and elevation of the given ground measurement station antenna, the position R of the ground measurement station antenna under the ground fixation system is calculated_tECF. The specific calculation process is as follows:

calculating coordinate components G1 and G2 according to longitude lon, latitude lat and elevation h of the ground station antenna:

wherein f is the geometric oblateness of the earth ellipsoid, and f is 1/298.257.

Calculating the position R of the ground survey station antenna under the ground fixing system_tECF：

The calculation results are (unit is meter):

(5) t calculated according to the step (3)₁Position R of time satellite under earth's fixation_wECFAnd the position R of the ground survey station antenna calculated in the step (4) under the ground system_tECFCalculating t₁Position R of time satellite under the system of the center of the station_wCT。

The method comprises the following specific steps:

under the system of the station center, a conversion matrix M from the earth fixation system to the system of the station center is calculated_ECF2CTDescribed as the next rotation about the Z axis and one rotation about the X axis in the earth fixation system:

M_ECF2CT＝R_x(90°-lat)R_z(90°+lon)

wherein the content of the first and second substances,

and according to the calculation of the step (3)To t₁Position R of time satellite under earth's fixation_wECFThe position R of the ground survey station antenna under the ground fixation system calculated in the step (4)_tECFCalculating t₁Projection R of target view vector pointed by ground survey station antenna to satellite under station center system at moment_wCTThe obtained projection variation curve of the target view vector pointed by the ground station antenna to the satellite under the station center system is shown in fig. 6:

R_wCT＝M_ECF2CT*(R_wECF-R_tECF)

in the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.

Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.