CN107402394B - Satellite-borne frequency measurement positioning error source on-orbit calibration method and device - Google Patents

Abstract

The invention discloses a method and a device for on-orbit calibration of an on-orbit calibration error source of on-board frequency measurement and positioning. The method includes: selecting a calibration station within the beam coverage of the frequency measurement satellite, controlling the calibration station to transmit a calibration signal within the working frequency band of the frequency measurement satellite; controlling the frequency measurement satellite to perform N frequency measurements on the calibration signal , obtain the frequency measurement matrix of the calibration signal; according to the position vector of the calibration station in the fixed coordinate system of the earth's center, the position vector of the frequency measurement satellite in the fixed coordinate system of the earth's center, and the relative velocity vector, calculate the frequency of the calibration signal. State matrix: According to the real frequency of the calibration signal, the frequency measurement matrix, the number of frequency measurements N and the state matrix, calculate the estimated value of the frequency measurement deviation of the frequency measurement satellite. It can be seen that the present invention adopts the method of on-orbit calibration to eliminate the long-term drift error, and can improve the frequency measurement accuracy and positioning accuracy of the frequency measurement satellite to the ground radiation source.

Description

On-orbit calibration method and device for on-orbit calibration of spaceborne frequency measurement and positioning error source

technical field

The invention relates to the technical field of space-based radio positioning, in particular to a method and a device for on-orbit calibration of a satellite-borne frequency measurement and positioning error source.

Background technique

Modern warfare is an information-based warfare, and the key to mastering the initiative in warfare lies in whether it can give priority to perceiving the war situation. Among them, radio reconnaissance technology, as one of the means of war situational awareness, plays an important role in modern warfare, especially the space-based radio reconnaissance technology has the advantages of wide coverage, high probability of interception, flexible arrangement, fast intelligence response and cost-effective Compared with higher advantages, it has become the focus of competition among military powers.

Using the space-based radio reconnaissance technology, not only the radio characteristic information and intelligence information of the target can be obtained, but also the target can be located and the activity law of the target can be detected. By fusing the target's radio information and location information, it can provide more valuable military intelligence. Space-based radiolocation technology is one of the important technical requirements.

Among the various positioning methods of space-based radio positioning technology, frequency measurement positioning, that is, relying on the radio radiation characteristics of the detection target, is the most commonly used method to accurately locate the detection target. Pina satellites with simple functions and low cost are the development trend of space-based radio positioning technology. Combined with frequency measurement positioning methods, Pina satellites can not only achieve radio signal intelligence acquisition, but also accurately locate targets. Pina satellites are important. Space-based radio reconnaissance means.

However, due to the limitations of the weight, volume and cost of the Pina satellite, the frequency stability of the crystal oscillator used as the frequency source of the digital receiver may be poor, and the long-term drift error and short-term drift error are relatively sensitive. The long-term drift error and short-term drift error of the crystal oscillator Eventually, there will be certain errors in the frequency measurement and positioning of the Pina satellite for the low-speed or stationary radiation sources on the ground, making the frequency measurement or positioning inaccurate. Among them, the short-term drift error is mainly affected by temperature, and has a certain proportional relationship with the temperature, which can be calibrated and compensated by the ground measurement in advance; however, the long-term drift error is mainly affected by the aging of the device, and with the on-orbit time and space environment. As a result, the error gradually becomes larger, which cannot be compensated by ground calibration, and can only be calibrated on-orbit. The existence of long-term drift error makes it difficult to obtain accurate frequency measurement information and cannot perform precise positioning.

SUMMARY OF THE INVENTION

In order to eliminate the influence of long-term drift error on frequency measurement error and positioning error, a method and device for on-orbit calibration of a spaceborne frequency measurement and positioning error source of the present invention are proposed.

According to an aspect of the present invention, there is provided a method for on-orbit calibration of an on-orbit error source of on-board frequency measurement and positioning, the method comprising:

Select a calibration station within the beam coverage of the frequency measurement satellite, and control the calibration station to transmit a calibration signal within the working frequency range of the frequency measurement satellite;

Controlling the frequency measurement satellite to perform multiple frequency measurements on the calibration signal to obtain a frequency measurement matrix of the calibration signal;

Calculate the state matrix of the calibration signal according to the position vector of the calibration station in the geocentric fixed coordinate system, the position vector and relative velocity vector of the frequency measurement satellite in the geocentric fixed coordinate system;

According to the real frequency of the calibration signal, the frequency measurement matrix, the frequency measurement times and the state matrix, the estimated value of the frequency measurement deviation of the frequency measurement satellite is calculated.

According to another aspect of the present invention, an on-orbit calibration device for on-board frequency measurement and positioning error source is provided, and the device includes:

The calibration station selection unit is used to select the calibration station within the beam coverage of the frequency measurement satellite, and controls the calibration station to transmit the calibration signal within the working frequency range of the frequency measurement satellite;

a frequency measurement matrix acquisition unit, configured to control the frequency measurement satellite to perform multiple frequency measurements on the calibration signal to obtain a frequency measurement matrix of the calibration signal;

The state matrix calculation unit is used to calculate the standard according to the position vector of the calibration station in the fixed coordinate system of the earth's center, the position vector of the frequency measurement satellite in the fixed coordinate system of the earth's center, and the relative velocity vector. The state matrix of the calibration signal;

A frequency measurement deviation estimation value calculation unit, configured to calculate the frequency measurement deviation estimation value of the frequency measurement satellite according to the real frequency of the calibration signal, the frequency measurement matrix, the frequency measurement times and the state matrix.

To sum up, the technical solution of the present invention adopts the method of on-orbit calibration to eliminate the long-term drift error, by selecting a suitable calibration station within the coverage of the frequency measurement satellite beam, and controlling the calibration station to transmit at the frequency measurement frequency. The calibration signal within the working frequency range of the satellite ensures that the frequency measurement satellite has a long enough arc to receive the calibration signal; after the frequency measurement satellite is controlled to perform multiple frequency measurements on the calibration signal of the calibration station, the calibration signal is obtained. The frequency measurement matrix of the signal; according to the position vector of the calibration station in the fixed coordinate system of the earth's center, the position vector of the frequency measurement satellite, and the relative velocity vector, the state matrix of the calibration signal is calculated; according to the real frequency and frequency of the calibration signal The measurement matrix, frequency measurement times and status matrix are used to calculate the frequency measurement deviation estimate of the frequency measurement satellite, so as to use the frequency measurement deviation estimate to correct the frequency measurement information of the ground radiation source by the frequency measurement satellite, and obtain the corrected frequency measurement information. output, in order to eliminate the influence of long-term drift error on the frequency measurement error and positioning error, and improve the frequency measurement accuracy and positioning accuracy of the frequency measurement satellite to the ground radiation source.

Description of drawings

1 is a schematic flowchart of an on-orbit calibration method for on-orbit calibration of an on-board frequency measurement and positioning error source provided by an embodiment of the present invention;

2 is a schematic diagram of the positional relationship between a frequency measurement satellite and a calibration station under a fixed geocentric coordinate system provided by an embodiment of the present invention;

3 is a schematic structural diagram of an on-orbit calibration device for on-board frequency measurement and positioning error sources provided by an embodiment of the present invention;

FIG. 4 is a schematic diagram of an implementation application system for on-orbit calibration of a spaceborne frequency measurement and positioning error source provided by an embodiment of the present invention;

5 is a positional relationship between a frequency measurement satellite sub-satellite point trajectory and a calibration station provided by an embodiment of the present invention;

FIG. 6 is a graph showing a real arrival frequency of a calibration signal arriving at a frequency measurement satellite and a measurement frequency of the frequency measurement satellite according to an embodiment of the present invention.

Detailed ways

The design idea of the present invention is as follows: in order to eliminate the influence of long-term drift error on frequency measurement error and positioning error, the present invention proposes a method for on-orbit calibration of satellite-borne frequency measurement and positioning error source. The calibration station transmits the calibration signal within the working frequency band of the frequency-measuring satellite, controls the frequency-measuring satellite to perform multiple frequency measurements on the calibration signal, and then measures the position vector, Calculate the state matrix of the calibration signal based on the position vector and relative velocity vector of the frequency satellite; calculate the frequency measurement deviation estimate of the frequency measurement satellite according to the real frequency of the calibration signal, the frequency measurement matrix of the frequency measurement satellite, the frequency measurement times and the state matrix Therefore, using the estimated value of the frequency measurement deviation to correct the frequency measurement information of the frequency measurement satellite on the ground radiation source, the accurate frequency measurement and accurate positioning of the ground radiation source by the frequency measurement satellite can be realized. In order to make the objectives, technical solutions and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

FIG. 1 is a schematic flowchart of a method for on-orbit calibration of an on-orbit calibration error source for on-board frequency measurement and positioning provided by an embodiment of the present invention. As shown in Figure 1, the method includes:

Step S110, select a calibration station within the beam coverage of the frequency measurement satellite, and control the calibration station to transmit a calibration signal within the working frequency band of the frequency measurement satellite.

In this embodiment, it is necessary to select a suitable calibration station within the beam coverage of the frequency measurement satellite, and control the calibration station to transmit the calibration signal within the working frequency band of the frequency measurement satellite to ensure that the calibration signal can be used by the frequency measurement satellite. Obtained, and at the same time ensure that the frequency measurement satellite can receive the calibration signal within a long enough arc.

Step S120, controlling the frequency measurement satellite to perform multiple frequency measurements on the calibration signal to obtain a frequency measurement matrix of the calibration signal.

The number of measurements in this embodiment is not specifically limited, and may be greater than or equal to one.

Step S130: Calculate the state matrix of the calibration signal according to the position vector of the calibration station in the fixed coordinate system of the earth's center, the position vector of the frequency measurement satellite in the fixed coordinate system of the earth's center, and the relative velocity vector.

Step S140: Calculate the frequency measurement deviation estimate value of the frequency measurement satellite according to the real frequency of the calibration signal, the frequency measurement matrix, the frequency measurement times and the state matrix.

After obtaining the estimated value of the frequency measurement deviation, the long-term offset error can be calibrated with the estimated value of the frequency measurement deviation within a certain period of time. Combined with the calibration of the short-term drift error on the ground, when the frequency measurement satellite performs frequency measurement of the ground radiation source. , to compensate and correct the frequency measurement information of the ground radiation source by the frequency measurement satellite, and improve the frequency measurement accuracy and positioning accuracy of the ground low-speed or stationary radiation source. It can be seen that the present invention uses the method of frequency measurement positioning error source on-orbit calibration to eliminate long-term drift error, and improves the frequency measurement accuracy of the ground radiation source by the frequency measurement satellite, thereby improving the positioning accuracy of the ground radiation source.

In an embodiment of the present invention, the control frequency measurement satellite in step S120 performs multiple frequency measurements on the calibration signal, and the frequency measurement matrix F obtained for the calibration signal is:

F=[f _d1 , f _d2 , ..., f _dN ] ^T ,

Among them, f _di (i=1, . . . , N) is the frequency measurement value of N times of the calibration signal by the frequency measurement satellite, and N is an integer greater than 1.

FIG. 2 is a schematic diagram of a positional relationship between a frequency measurement satellite and a calibration station in a fixed geocentric coordinate system according to an embodiment of the present invention. As shown in Figure 2, the simplified earth model is a perfect sphere, and the center of the perfect sphere is the center O of the _geocentric fixed coordinate system Se.

Let the position vector of the calibration station B (stationary) in the geocentric fixed connection be r _b , and the position vector and relative velocity vector of the satellite S in the geocentric fixed connection are rs _s and v _s , respectively. Then the Doppler frequency f _d of the calibration signal reaching the satellite S is:

Among them, ω _E is the angular velocity vector of the earth's rotation, c is the speed of light, and f _b is the actual radiation frequency of the calibration station. can prove,

(r _{b -rs} )·((ω _E ×r _b )-(v _s +ω _E × _rs ))=-(r _{b -rs} )·v _s

Then the above formula can be simplified to:

f _d =f _b (1+us b _· v _s /c)

u _sb =(r _{b -rs} )/||r _{b -rs} ||

Due to the unstable characteristics of the crystal oscillator as the frequency source of the digital receiver in the satellite S, there are many measurement errors in the measurement of the arrival frequency of the calibration signal by the satellite S, namely long-term drift error, short-term drift error and random error. Among them, the long-term drift error is a function of time, which is a slowly changing process formed with the aging of the device. It can be regarded as a fixed deviation within a certain period of time, and can be calibrated regularly on-orbit; The temperature of the crystal oscillator changes continuously, and it can be calibrated and compensated through the ground measurement in advance; the random error is expressed as Gaussian white noise, which cannot be compensated.

After the short-term drift error is compensated by ground calibration, the measurement of the arrival frequency of the calibration signal by the satellite S will have no short-term drift error, but only long-term drift error and random error. Then, the N measurements of the calibration signal can be expressed as:

f _di =f _b (1+u _sbi ·v _si /c)+Δ+ε _i i=1, 2,...,N

u _sbi =(r _b -r _si )/||r _b -r _si || i=1, 2, . . . , N

Among them, r _si and v _si can be obtained in real time from the GPS data of the satellite, Δ is the fixed frequency measurement deviation in a short time, and ε _i is the random frequency measurement error (which is Gaussian white noise). The above formula is simply transformed and written as The matrix form is:

F-Gf _b =CΔ+E

Among them, C is an N×1 dimensional matrix of all 1s,

F=[f _d1 , f _d2 , ..., f _dN ] ^T

G=[g ₁ , g ₂ , ..., g _N ] ^T

E=[ε ₁ , ε ₂ , . . . ε _N ] ^T

g _i =1+u _sbi ·v _si /ci=1,2,...,N

可表示为：Then, the estimated value of the frequency measurement deviation Δ

can be expressed as:

It can be seen from the above deduction that the frequency measurement data measured by the frequency measurement satellite has an equation relationship with the position vector, relative velocity vector, and position vector of the calibration station of the frequency measurement satellite.

If the position vector, relative velocity vector and the position vector of the calibration station of the satellite S at different times are obtained to obtain the state matrix, and then the relationship between the state matrix and the frequency measurement information measured by the frequency measurement satellite is established by the above formula, the frequency measurement can be obtained. Bias estimate

In an embodiment of the present invention, in step S130, according to the position vector of the calibration station in the fixed coordinate system of the earth's center, the position vector of the frequency measurement satellite in the fixed coordinate system of the earth's center, and the relative velocity vector, the standard is calculated. The state matrix of the calibration signal includes:

Receive the GPS data of the frequency measurement satellite, and obtain the position vector r _si and the relative velocity vector v _si of the frequency measurement satellite at different times according to the GPS data, there are

u _sbi =(r _b -r _si )/||r _b -r _si || i=1, 2, . . . , N

g _i =1+u _sbi ·v _si /ci=1,2,...,N

The state matrix G of the calibration signal is:

G=[g ₁ , g ₂ , ..., g _N ] ^T

Among them, c is the speed of light; r _b is the position vector of the calibration station.

Then in step S140, according to the real frequency of the calibration signal, the frequency measurement matrix, the frequency measurement times N and the state matrix, calculating the estimated value of the frequency measurement deviation of the frequency measurement satellite includes:

其中，测频偏差估计公式为：According to the real frequency of the calibration signal, the frequency measurement matrix, the frequency measurement times N and the state matrix, the frequency measurement deviation estimation value of the frequency measurement satellite is calculated by the frequency measurement deviation estimation formula

Among them, the frequency measurement deviation estimation formula is:

Among them, C is the unit matrix of N×1 dimension, F is the frequency measurement matrix; G is the state matrix; f _b is the real frequency of the calibration signal; N is the frequency measurement times.

As described above, after obtaining the estimated value of frequency measurement deviation, the long-term offset error can be calibrated with the estimated value of frequency measurement deviation within a certain period of time. Combined with the calibration of the short-term drift error on the ground, when the frequency measurement satellite performs ground When measuring the frequency of the radiation source, the frequency measurement information of the ground radiation source by the frequency measuring satellite is compensated and corrected to improve the frequency measurement accuracy and positioning accuracy of the ground low-speed or stationary radiation source. In one embodiment of the present invention, the method shown in FIG. 1 further includes:

Correct the frequency measurement information of the ground radiation source by the frequency measurement satellite by using the estimated value of the frequency measurement deviation, and obtain the corrected frequency measurement information and output it.

FIG. 3 is a schematic structural diagram of an on-orbit calibration device for on-orbit calibration of an on-board frequency measurement and positioning error source provided by an embodiment of the present invention. As shown in FIG. 3 , the on-orbit calibration device 300 of the on-orbit calibration error source of the on-board frequency measurement and positioning includes:

The calibration station selection unit 310 is used to select the calibration station within the beam coverage of the frequency measurement satellite, and controls the calibration station to transmit the calibration signal within the frequency measurement satellite operating frequency band;

The frequency measurement matrix acquisition unit 320 is used to control the frequency measurement satellite to perform multiple frequency measurements on the calibration signal to obtain a frequency measurement matrix of the calibration signal;

The state matrix calculation unit 330 is used to calculate the state matrix of the calibration signal according to the position vector of the calibration station in the fixed coordinate system of the earth's center, the position vector of the frequency measurement satellite in the fixed coordinate system of the earth's center, and the relative velocity vector ;

The frequency measurement deviation estimation value calculation unit 340 is configured to calculate the frequency measurement deviation estimation value of the frequency measurement satellite according to the real frequency of the calibration signal, the frequency measurement matrix, the frequency measurement times and the state matrix.

In an embodiment of the present invention, the frequency measurement matrix obtaining unit 320 controls the frequency measurement satellite to perform multiple frequency measurements on the calibration signal, and the obtained frequency measurement matrix F of the calibration signal is:

F=[f _d1 , f _d2 , ..., f _dN ] ^T ,

Wherein, f _di (i=1, . . . , N) is the N frequency measurement value of the calibration signal by the frequency measurement satellite, and N is an integer greater than 1.

In an embodiment of the present invention, the state matrix calculation unit 330 is configured to receive GPS data of the frequency measurement satellite, and obtain the position vector rs _si and the relative velocity vector v _si of the frequency measurement satellite at different times according to the GPS data, there are

u _sbi =(r _b -r _si )/||r _b -r _si || i=1, 2, . . . , N

g _i =1+u _sbi ·v _si /ci=1,2,...,N

The state matrix G of the calibration signal is:

G=[g ₁ , g ₂ , ..., g _N ] ^T

Among them, c is the speed of light; r _b is the position vector of the calibration station.

其中，测频偏差估计公式为：In an embodiment of the present invention, the frequency measurement error calculation unit 340 is configured to calculate the frequency measurement of the frequency measurement satellite by the frequency measurement deviation estimation formula according to the real frequency of the calibration signal, the frequency measurement matrix, the frequency measurement times and the state matrix Bias estimate

Among them, the frequency measurement deviation estimation formula is:

Among them, C is the unit matrix of N×1 dimension, F is the frequency measurement matrix; G is the state matrix; f _b is the real frequency of the calibration signal; N is the frequency measurement times.

In an embodiment of the present invention, the apparatus shown in FIG. 3 further includes: a correction unit, configured to correct the frequency measurement information of the ground radiation source by the frequency measurement satellite by using the frequency measurement deviation estimate value, obtain the corrected frequency measurement information and output.

The on-orbit calibration device for on-board frequency measurement and positioning error source shown in Figure 3 can be applied to ground operation control and data processing systems, and is suitable for Pina satellite frequency measurement and calibration calibration with simple functions and low cost, so as to improve the accuracy of measurement and calibration. frequency and positioning accuracy.

It should be noted that the apparatus shown in FIG. 3 corresponds to each embodiment of the method shown in FIG. 1 , which has been described in detail above and will not be repeated here.

FIG. 4 is a schematic diagram of an implementation and application system for on-orbit calibration of a spaceborne frequency measurement and positioning error source provided by an embodiment of the present invention. As shown in Figure 4, the application system includes satellite, ground calibration station, ground operation control and data processing system. The ground calibration station and the ground operation control and data processing system include the on-orbit calibration device for the on-orbit calibration of the satellite-borne frequency measurement and positioning error source shown in Figure 3.

In order to make the technical effect of the present invention more obvious, the following will describe the simulation results of the technical solution of the present invention. In the simulation experiment, the on-orbit calibration method of the on-orbit error source of the satellite-borne frequency measurement and positioning error source proposed by the present invention is used first, and then the estimated error statistical result of the frequency measurement deviation is given by the Monto-Carlo method.

Let the orbit of the frequency measurement satellite be a sun-synchronous orbit with a height of 500km, the width of the ground beam covered by the detection antenna is 120 degrees, and the longitude and latitude of the ground calibration station is (143°, 31.25°). The positional relationship between the sub-satellite point trajectory of the frequency measurement satellite and the calibration station, as shown in Figure 5, the calibration station is on the left side of the sub-satellite point trajectory of the frequency measurement satellite.

Let the self-positioning error of satellite position be 5m (1σ), the self-positioning error of velocity is 0.1m/s (1σ), the random error of frequency measurement is 1kHz (1σ), the real frequency measurement error caused by long-term drift is 10kHz, and the satellite receives the calibration signal. The observation time is 200s, and a frequency measurement result is given in 1s. The real radiation frequency of the ground calibration station is 2.7GHz. Through simulation calculation, it can be obtained that the estimated value of the frequency measurement deviation is 9.96kHz, which is very close to the real value of 10kHz. FIG. 6 is a graph showing a real arrival frequency of a calibration signal arriving at a frequency measurement satellite and a measurement frequency of the frequency measurement satellite according to an embodiment of the present invention. As shown in Figure 6, there is always a fixed deviation between the measured frequency before calibration and the real arrival frequency, while the measured frequency after calibration obtained by using the estimated value of the frequency measurement deviation always fluctuates around the real arrival frequency, and it can be considered that its fluctuation range is determined by the measurement frequency random errors.

The Monto-Carlo method is used to perform the estimation error statistics of the frequency measurement deviation (simulation 10,000 times), and the standard deviation of the estimation error is 70.7 Hz (1σ). It can be seen that the estimation accuracy is very high. Then, after using the frequency measurement deviation estimated value of the present invention to calibrate the frequency measurement information of the ground radiation source by the frequency measurement satellite, an accurate measurement frequency value can be obtained, and then the ground radiation source can be accurately positioned.

To sum up, the technical solution of the present invention adopts the method of on-orbit calibration to eliminate the long-term drift error, by selecting a suitable calibration station within the coverage of the frequency measurement satellite beam, and controlling the calibration station to transmit at the frequency measurement frequency. The calibration signal within the working frequency range of the satellite ensures that the frequency measurement satellite has a long enough arc to receive the calibration signal; after the frequency measurement satellite is controlled to perform multiple frequency measurements on the calibration signal of the calibration station, the calibration signal is obtained. The frequency measurement matrix of the signal; according to the position vector of the calibration station in the fixed coordinate system of the earth's center, the position vector of the frequency measurement satellite, and the relative velocity vector, the state matrix of the calibration signal is calculated; according to the real frequency and frequency of the calibration signal The measurement matrix, frequency measurement times and status matrix are used to calculate the frequency measurement deviation estimate of the frequency measurement satellite, so as to use the frequency measurement deviation estimate to correct the frequency measurement information of the ground radiation source by the frequency measurement satellite, and obtain the corrected frequency measurement information. output, in order to eliminate the influence of long-term drift error on the frequency measurement error and positioning error, and improve the frequency measurement accuracy and positioning accuracy of the frequency measurement satellite to the ground radiation source.

The above descriptions are only specific embodiments of the present invention, and those skilled in the art can make other improvements or modifications on the basis of the above embodiments under the above teachings of the present invention. Those skilled in the art should understand that the above-mentioned specific description is only for better explaining the purpose of the present invention, and the protection scope of the present invention should be based on the protection scope of the claims.

Claims (10)

1. an on-orbit calibration method for satellite-borne frequency measurement and positioning error source, is characterized in that, described method comprises: Select a calibration station within the beam coverage of the frequency measurement satellite, and control the calibration station to transmit a calibration signal within the working frequency range of the frequency measurement satellite; Controlling the frequency measurement satellite to perform multiple frequency measurements on the calibration signal to obtain a frequency measurement matrix of the calibration signal; Calculate the state matrix of the calibration signal according to the position vector of the calibration station in the geocentric fixed coordinate system, the position vector and relative velocity vector of the frequency measurement satellite in the geocentric fixed coordinate system; According to the real frequency of the calibration signal, the frequency measurement matrix, the frequency measurement times and the state matrix, the estimated value of the frequency measurement deviation of the frequency measurement satellite is calculated. 2. The method according to claim 1, wherein the frequency measurement satellite is controlled to perform multiple frequency measurements on the calibration signal, and the frequency measurement matrix F that obtains the calibration signal is: F=[f _d1 ,f _d2 ,...,f _dN ] ^T , Wherein, f _di (i=1, . . . , N) is the N frequency measurement value of the calibration signal by the frequency measurement satellite, and N is an integer greater than 1. 3. The method according to claim 2, characterized in that, according to the position vector of the calibration station in the fixed coordinate system of the earth's center, the position of the frequency measurement satellite in the fixed coordinate system of the earth's center vector, relative velocity vector, and calculating the state matrix of the calibration signal includes: Receive the GPS data of the frequency measurement satellite, and obtain the position vector r _si and the relative velocity vector v _si of the frequency measurement satellite at different times according to the GPS data, there are u _sbi =(r _b -r _si )/||r _b -r _si ||i=1,2,...,N g _i =1+u _sbi ·v _si /ci = 1,2,...,N The state matrix G of the calibration signal is: G=[g ₁ ,g ₂ ,...,g _N ] ^T Among them, c is the speed of light; r _b is the position vector of the calibration station. 4. The method according to claim 3, wherein, according to the true frequency of the calibration signal, the frequency measurement matrix, the frequency measurement times and the state matrix, the measurement of the frequency measurement satellite is calculated. Frequency deviation estimates include: According to the real frequency of the calibration signal, the frequency measurement matrix, the frequency measurement times and the state matrix, the frequency measurement deviation estimation value of the frequency measurement satellite is calculated by the frequency measurement deviation estimation formula

Wherein, the estimation formula of the frequency measurement deviation is:

Wherein, C is an N×1-dimensional unit matrix, F is the frequency measurement matrix; G is the state matrix; f _b is the true frequency of the calibration signal; N is the frequency measurement times. 5. The method of any one of claims 1-4, wherein the method further comprises: Correcting the frequency measurement information of the ground radiation source by the frequency measurement satellite by using the frequency measurement deviation estimate value to obtain and output the corrected frequency measurement information. 6. An on-orbit calibration device for satellite-borne frequency measurement and positioning error source, characterized in that the device comprises: The calibration station selection unit is used to select the calibration station within the beam coverage of the frequency measurement satellite, and controls the calibration station to transmit the calibration signal within the working frequency range of the frequency measurement satellite; a frequency measurement matrix acquisition unit, configured to control the frequency measurement satellite to perform multiple frequency measurements on the calibration signal to obtain a frequency measurement matrix of the calibration signal; The state matrix calculation unit is used to calculate the standard according to the position vector of the calibration station in the fixed coordinate system of the earth's center, the position vector of the frequency measurement satellite in the fixed coordinate system of the earth's center, and the relative velocity vector. The state matrix of the calibration signal; A frequency measurement deviation estimation value calculation unit, configured to calculate the frequency measurement deviation estimation value of the frequency measurement satellite according to the real frequency of the calibration signal, the frequency measurement matrix, the frequency measurement times and the state matrix. 7. The apparatus of claim 6, wherein The frequency measurement matrix acquisition unit controls the frequency measurement satellite to perform multiple frequency measurements on the calibration signal, and the obtained frequency measurement matrix F of the calibration signal is: F=[f _d1 ,f _d2 ,...,f _dN ] ^T , Wherein, f _di (i=1, . . . , N) is the N frequency measurement value of the calibration signal by the frequency measurement satellite, and N is an integer greater than 1. 8. The apparatus of claim 7, wherein The state matrix calculation unit is configured to receive the GPS data of the frequency measurement satellite, and obtain the position vector r _si and the relative velocity vector v _si of the frequency measurement satellite at different times according to the GPS data, then there are: u _sbi =(r _b -r _si )/||r _b -r _si ||i=1,2,...,N g _i =1+u _sbi ·v _si /ci = 1,2,...,N The state matrix G of the calibration signal is: G=[g ₁ ,g ₂ ,...,g _N ] ^T Among them, c is the speed of light; r _b is the position vector of the calibration station. 9. The apparatus of claim 8, wherein The frequency measurement error calculation unit is used to calculate the frequency measurement of the frequency measurement satellite by the frequency measurement deviation estimation formula according to the real frequency of the calibration signal, the frequency measurement matrix, the frequency measurement times and the state matrix Bias estimate

Wherein, the estimation formula of the frequency measurement deviation is:

Wherein, C is an N×1-dimensional unit matrix, F is the frequency measurement matrix; G is the state matrix; f _b is the true frequency of the calibration signal; N is the frequency measurement times. 10. The apparatus of any one of claims 6-9, wherein the apparatus further comprises: A correcting unit, configured to correct the frequency measurement information of the ground radiation source by the frequency measurement satellite by using the estimated value of the frequency measurement deviation, and obtain and output the corrected frequency measurement information.

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