Space Science and Technologies

Series Editor

Peijian Ye, China Academy of Space Technology, Beijing, China

Space Science and Technologies publishes a host of recent advances andachievements in the field – quickly and informally. It covers a wide range ofdisciplines and specialties, with a focus on three main aspects: key theories, basicimplementation methods, and practical engineering applications. It includes, but isnot limited to, theoretical and applied overall system design, subsystem design,major space-vehicle supporting technologies, and the management of relatedengineering implementations.

Within the scopes of the series are monographs, professional books or graduatetextbooks, edited volumes, and reference works purposely devoted to supporteducation in related areas at the graduate and post-graduate levels.

More information about this series at http://www.springer.com/series/16385

Jun Xie • Haihong Wang • Peng Li •

Yansong Meng

Satellite Navigation Systemsand Technologies

123

Jun XieInstitute of Spacecraft System EngineeringCASTBeijing, China

Peng LiInstitute of Spacecraft System EngineeringCASTBeijing, China

Haihong WangInstitute of Spacecraft System EngineeringCASTBeijing, China

Yansong MengCAST-Xi’anXi’an, Shanxi, China

ISSN 2730-6410 ISSN 2730-6429 (electronic)Space Science and TechnologiesISBN 978-981-15-4862-8 ISBN 978-981-15-4863-5 (eBook)https://doi.org/10.1007/978-981-15-4863-5

Jointly published with Beijing Institute of Technology PressThe print edition is not for sale in China (Mainland). Customers from China (Mainland) please order theprint book from: Beijing Institute of Technology Press.

© Beijing Institute of Technology Press and Springer Nature Singapore Pte Ltd. 2021This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or partof the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations,recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmissionor information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilarmethodology now known or hereafter developed.The use of general descriptive names, registered names, trademarks, service marks, etc. in thispublication does not imply, even in the absence of a specific statement, that such names are exempt fromthe relevant protective laws and regulations and therefore free for general use.The publishers, the authors, and the editors are safe to assume that the advice and information in thisbook are believed to be true and accurate at the date of publication. Neither the publishers nor theauthors or the editors give a warranty, express or implied, with respect to the material contained herein orfor any errors or omissions that may have been made. The publishers remain neutral with regard tojurisdictional claims in published maps and institutional affiliations.

This Springer imprint is published by the registered company Springer Nature Singapore Pte Ltd.The registered company address is: 152 Beach Road, #21-01/04 Gateway East, Singapore 189721,Singapore

Series Editor’s Preface

China’s space technology and science research have earned a place in the world, buthave not been compiled into a series of systematic publications yet. In 2018, theseries Space Science and Technology edited mainly by me and co-authored by theleading figures in China’s space industry was published in China, when ChinaAcademy of Space Technology was celebrating the 50th anniversary of itsfounding. This collection contains 23 volumes in Chinese, only 10 of which havebeen selected, re-created and translated into English. In addition, each Englishvolume has been re-created at the suggestion of the Springer, by deleting thecontents similar to Springer’s existing publications and adding the contents that areinternationally advanced and even leading, and bear both Chinese characteristicsand worldwide universality. This series fully reflects the knowledge and engi-neering experience recently accumulated by Chinese scientists and engineers inspace technology and science research.

As the Editor-in-Chief of this series, I always insist that this collection must beof high-quality, either in Chinese version or English version. First, the contents ofthis series must be condensed and sublimated based on the combination of theoryand practice, so as to provide both a theoretical value and engineering guidance.Second, the relationships between past knowledge and state-of-the-art and betweenother people’s work and our own new findings should be properly balanced in thebook contents to ensure the knowledge systematicness and continuity and tohighlight new achievements and insights. Each volume intends to introduce thereaders something new. Third, the English version should be customized forinternational exposure and play a solid supporting role for China to contribute to theworld’s space field.

This collection consists of 10 volumes, including Spacecraft Thermal ControlTechnologies, Spacecraft Power System Technologies, Spacecraft ElectromagneticCompatibility Technologies, Technologies for Spacecraft Antennas EngineeringDesign, Satellite Navigation Systems and Technologies, Satellite Remote SensingTechnologies, Spacecraft Autonomous Navigation Technologies Based onMulti-source Information Fusion, Technologies for Deep Space Exploration, SpaceRobotics, Manned Spacecraft Technologies.

v

Satellite Navigation Systems and Technologies focuses on the space segment ofsatellite navigation system, studies and discusses the navigation techniques, mainlyincluding data uploading link, navigation and broadcasting link and inter-satellitelink techniques, and highlights the technical characteristics of this system such ashigh-precision measurement, high-continuity information processing, high-stabilitychannel transmission, high-power signal emission, high availability and goodintegrity.

In addition, the key technologies of navigation satellite system are studied anddiscussed here in depth to provide a reference for the design of navigation satellitesystem. Those technologies include time-frequency reference system, navigationsignal evaluation, autonomous satellite operation and other technologies.

The publication of this series adds a new member to the international family ofspace technology and science publications, and intends to play an important role inpromoting academic exchanges and space business cooperation. It provides com-prehensive, authentic and rich information for international space scientists andengineers, enterprises and institutions as well as government sectors to have adeeper understanding of China’s space industry. Of course, I believe that this serieswill also be of great reference value to the researchers, engineers, graduate studentsand university students in the related fields.

Peijian YeAcademician

Chinese Academy of SciencesBeijing, China

vi Series Editor’s Preface

Preface

Satellite navigation technology refers to the technology of providing the users withthree-dimensional position information service and time information service byusing the radio navigation signal broadcast by the satellites.

As the infrastructure of high-precision spatial reference and time reference,satellite navigation system has the technical characteristics such as high-precisionmeasurement, high-continuity information processing, high-stability time trans-mission, high-power signal transmission, high availability and integrity. Itembodies the advanced achievements in science and engineering technology fieldssuch as spacecraft design, communication system, electromagnetics and microwaveengineering, precision measurement, signal and information processing, andquantum physics. Satellite navigation system can provide all-time and all-weatherpositioning, navigation and timing services to various users on the earth’s surface,at sea and in the near-earth space. It is an absolutely necessary space informationinfrastructure for national economy, social development and national defenseconstruction nowadays.

Based on the design theory and development experience of Beidou navigationsatellite system (BDS), this book highlights the space segment and the relatedsatellite technologies as well as satellite-ground integration design from the per-spective of engineering. According to the role of satellite system in the GNSS andthe process of signal information flow, through the study on the developments ofseveral Global Navigation Satellite Systems (GNSS), the satellite navigationtechnology in this book is divided into uplink and reception technology, broad-casting link technology, inter-satellite link technology, time-frequency systemtechnology, navigation signal generation and assessment technology, navigationinformation management technology, autonomous operation technology of navi-gation satellite. Each chapter not only studies on the theoretical function and maintechnologies, but also focuses on engineering development. In the last chapter, wehave a research on the technological development status and trend of BDS andother GNSS, and propose the technologies of future development, such as newnavigation signal structure, spaceborne cold atomic clock technology, MEO/HEOand deep-space satellite navigation technology, Long-term Operation Technology

vii

of Autonomous Constellation, advanced inter-satellite link technology, X-ray pulsarnavigation application, LEO satellite navigation augmentation technology,multi-source information fusion navigation technology, and autonomous healthmanagement of navigation satellite.

This book consists of 10 chapters, which was written by Jun Xie, HaihongWang, Peng Li and Yansong Meng from the China Academy of Space Technology(CAST). The preparation of this book has received care and support from theexperts and scholars from the CAST, Institute of Spacecraft System Engneering(ISSE) and the CAST-Xi’an. Bian Lang, Zhang Zhongying, Li Yang and WangGuoyong et al. participated in the preparation of Chap. 3. Tao Yan, Ying Wang,Lang Bian, Haiqing Dong et al. participated in the preparation of Chap. 4. ChengbinKang, Xiangjun Wu and Yanan Gu participated in the preparation of Chap. 5. LijunDu, Guoyong Wang, Dong He, Feng Xu et al. participated in the preparation ofChap. 6. Xiaozhun Cui and Ying Wang participated in the preparation of Chap. 7.Jia Guo et al. participated in the preparation of Chap. 8. Lang Bian, Jia Guo, GongZhang et al. participated in the preparation of Chap. 9. Xiangjun Wu, Qingjun Liuet al. participated in the preparation of Chap. 10. The authors acknowledge thecontributions and achievements made by these individuals in the process of writingthis book. In particular, the guidance and help of academician Peijian Ye hasenabled the authors to constantly revise and improve this book. The authors whohave benefited a lot would like to express heartfelt thanks to him.

This book is the research achievements made by the CAST navigation satellitetechnology team over the years. It can be used as a technical manual for theengineers and technicians engaged in the design of satellite navigation system, andas a textbook for senior undergraduate students and graduate students.

With the rapid development of satellite navigation technology, the application ofsatellite navigation has become more extensive and will be involved in moretechnical contents. We will keep on research and look forward to sharing ourresearch achievements, engineering experience and ideas with readers. The cor-rection by readers and experts is kindly requested.

Beijing, China Jun XieBeijing, China Haihong WangBeijing, China Peng LiXi’an, China Yansong Meng

viii Preface

Contents

1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.1 Evolution of Navigation Technology . . . . . . . . . . . . . . . . . . . . 21.2 Function and Application of Satellite Navigation . . . . . . . . . . . 61.3 Fundamentals of Satellite Navigation . . . . . . . . . . . . . . . . . . . . 7

1.3.1 Measurement Method . . . . . . . . . . . . . . . . . . . . . . . . . 81.3.2 Positioning Principle . . . . . . . . . . . . . . . . . . . . . . . . . . 91.3.3 Multiple-Access Technology . . . . . . . . . . . . . . . . . . . . 11

1.4 Time-Frequency Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . 131.4.1 International Atomic Time . . . . . . . . . . . . . . . . . . . . . 131.4.2 Coordinated Universal Time . . . . . . . . . . . . . . . . . . . . 131.4.3 Time Reference of Navigation Satellite System . . . . . . 14

1.5 Spatial Coordinate System . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151.5.1 Overview of Coordinate System . . . . . . . . . . . . . . . . . 151.5.2 Geocentric Celestial Reference System (GCRS) . . . . . . 161.5.3 Earth-Fixed Coordinate System . . . . . . . . . . . . . . . . . . 171.5.4 Transformation Between Coordinate Systems . . . . . . . . 19

1.6 Time Reference and Coordinates of Navigation Satellite . . . . . . 211.6.1 Offset Between Satellite Time and System Time . . . . . 221.6.2 Ephemeris Parameters . . . . . . . . . . . . . . . . . . . . . . . . . 221.6.3 GNSS Precise Orbit Determination and Time

Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231.7 Functional Composition of Satellite Navigation System . . . . . . . 25

1.7.1 Ground Segment . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261.7.2 Space Segment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271.7.3 User Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

1.8 System Service Performance Standard . . . . . . . . . . . . . . . . . . . 291.8.1 Definitions of Standard Indicators . . . . . . . . . . . . . . . . 301.8.2 Relationships Among Service Reliability Indicators . . . 321.8.3 BDS Service Standard . . . . . . . . . . . . . . . . . . . . . . . . 33

ix

2 Overview of Navigation Satellite Systems . . . . . . . . . . . . . . . . . . . . 352.1 USA GPS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362.2 Russian GLONASS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 402.3 EU Galileo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442.4 Japanese QZSS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 462.5 Indian NAVIC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492.6 BeiDou Navigation Satellite System (BDS) . . . . . . . . . . . . . . . 51

2.6.1 BDS-1 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 522.6.2 BDS-2 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 542.6.3 BDS-3 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 582.6.4 BDS-3 Satellite . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

3 Satellite Navigation Uplink and Reception Technology . . . . . . . . . . 673.1 Function and Design of Satellite Navigation Uplink . . . . . . . . . 67

3.1.1 Function of Uplink . . . . . . . . . . . . . . . . . . . . . . . . . . . 673.1.2 General Design of Uplink . . . . . . . . . . . . . . . . . . . . . . 693.1.3 Design of Uplink Payload in BDS Satellite . . . . . . . . . 71

3.2 Satellite-Ground Time Synchronization Technology . . . . . . . . . 733.2.1 Radio-Based One-Way Satellite-Ground Time

Synchronization Technology . . . . . . . . . . . . . . . . . . . . 733.2.2 Radio-Based Two-Way Satellite-Ground Time

Synchronization Technology . . . . . . . . . . . . . . . . . . . . 753.2.3 Laser-Based Satellite-Ground Time Synchronization

Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 773.2.4 Inverse Positioning Method . . . . . . . . . . . . . . . . . . . . . 793.2.5 Pseudorange and Radar Ranging Method . . . . . . . . . . . 80

3.3 Uploaded Information and Uploading Strategy of BDS . . . . . . . 813.3.1 Collection of Basic Navigation Information . . . . . . . . . 823.3.2 Types of Basic Navigation Information for Upload . . . 833.3.3 Navigation Information Uploading and Activating

Strategy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 863.4 BDS Satellite Uplink Reception Technology . . . . . . . . . . . . . . 87

3.4.1 Uplink Signal Conditioning . . . . . . . . . . . . . . . . . . . . . 883.4.2 Uplink Baseband Processing . . . . . . . . . . . . . . . . . . . . 903.4.3 Upload Data Demodulation . . . . . . . . . . . . . . . . . . . . . 973.4.4 Pseudorange Measurement . . . . . . . . . . . . . . . . . . . . . 973.4.5 Doppler Measurement . . . . . . . . . . . . . . . . . . . . . . . . . 993.4.6 Monitoring of Null-Value Self-closed Loop . . . . . . . . . 101

3.5 Anti-interference Design of BDS Satellite Receiver . . . . . . . . . . 1023.5.1 Analysis of Interference Effects on Uplink Signals . . . . 1043.5.2 Anti-interference Design of Spaceborne Receiver . . . . . 105

x Contents

4 Satellite Navigation Broadcasting Link Technology . . . . . . . . . . . . 1114.1 Overview of Satellite Navigation Broadcasting Link . . . . . . . . . 111

4.1.1 GPS Signal Structure . . . . . . . . . . . . . . . . . . . . . . . . . 1134.1.2 Galileo Signal Structure . . . . . . . . . . . . . . . . . . . . . . . 1154.1.3 GLONASS Signal Structure . . . . . . . . . . . . . . . . . . . . 1154.1.4 BDS Signal Structure . . . . . . . . . . . . . . . . . . . . . . . . . 117

4.2 Design of Navigation Signal Structure . . . . . . . . . . . . . . . . . . . 1224.2.1 Frequency Band . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1224.2.2 PRN Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1254.2.3 Message Rate and Encoding . . . . . . . . . . . . . . . . . . . . 1344.2.4 Modulation Waveform . . . . . . . . . . . . . . . . . . . . . . . . 1354.2.5 Constant Envelope Multiplexing Method . . . . . . . . . . . 1444.2.6 Navigation Signal Compatibility Design . . . . . . . . . . . 154

4.3 Design of Navigation Signal Messages . . . . . . . . . . . . . . . . . . . 1584.3.1 Development History of GNSS Navigation

Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1594.3.2 Design of Fixed frame Navigation Message . . . . . . . . . 1604.3.3 Design of Data Block Navigation Message . . . . . . . . . 1704.3.4 Other Improved Navigation Message Designs . . . . . . . 176

5 Satellite Navigation Inter-satellite Link Technology . . . . . . . . . . . . 1815.1 Overview of Inter-satellite Link Technology . . . . . . . . . . . . . . . 181

5.1.1 History of Inter-satellite Link . . . . . . . . . . . . . . . . . . . 1815.1.2 Application Requirements for Inter-satellite Links

in Navigation Satellite . . . . . . . . . . . . . . . . . . . . . . . . 1845.1.3 Functional Composition of Inter-satellite Links . . . . . . 186

5.2 Frequency Selection and Signal Design of Inter-satelliteLink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1885.2.1 Frequency Selection . . . . . . . . . . . . . . . . . . . . . . . . . . 1885.2.2 Inter-satellite Link Signal Design . . . . . . . . . . . . . . . . 191

5.3 Network Topology and Routing of Inter-satellite Link . . . . . . . 1945.3.1 Constrains of Inter-satellite Topology and Routing

Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1945.3.2 Analysis of Geometric Characteristics in Inter-satellite

Measurements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1955.3.3 Analysis of Data Communication Linking

Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1975.3.4 Typical Network Topology Routing Design . . . . . . . . . 198

5.4 Implementation of Inter-satellite Link . . . . . . . . . . . . . . . . . . . . 2015.4.1 Construction of Inter-satellite Link . . . . . . . . . . . . . . . 2015.4.2 Inter-satellite Ranging . . . . . . . . . . . . . . . . . . . . . . . . . 2045.4.3 Inter-satellite Network Protocol . . . . . . . . . . . . . . . . . . 2065.4.4 Inter-satellite Operation Management . . . . . . . . . . . . . . 210

Contents xi

5.5 Inter-satellite Link of BDS-3 . . . . . . . . . . . . . . . . . . . . . . . . . . 2135.5.1 Constellation and Satellite Configuration . . . . . . . . . . . 2135.5.2 Inter-satellite Link Performance . . . . . . . . . . . . . . . . . . 2135.5.3 Prospect for Application . . . . . . . . . . . . . . . . . . . . . . . 214

6 Time-Frequency System for Satellite Navigation . . . . . . . . . . . . . . . 2176.1 Overview of Time-Frequency System . . . . . . . . . . . . . . . . . . . 217

6.1.1 Composition and Function of Time-FrequencySystem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218

6.1.2 System Time Generation and Tracing . . . . . . . . . . . . . 2206.1.3 Time Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2226.1.4 Time-Frequency System Monitoring

and Forecasting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2246.2 Spaceborne Time-Frequency System . . . . . . . . . . . . . . . . . . . . 229

6.2.1 Composition and Function of SpaceborneTime-Frequency System . . . . . . . . . . . . . . . . . . . . . . . 229

6.2.2 Time-Frequency System in BDS Satellite . . . . . . . . . . 2356.2.3 Management of Spaceborne Clock Group . . . . . . . . . . 243

6.3 Atomic Clock Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2456.3.1 Development of Atomic Clock . . . . . . . . . . . . . . . . . . 2456.3.2 Principle of Atomic Clock . . . . . . . . . . . . . . . . . . . . . 2466.3.3 Classification of Atomic Clocks . . . . . . . . . . . . . . . . . 2506.3.4 Spaceborne Atomic Clock Technology . . . . . . . . . . . . 252

7 Generation and Assessment of Navigation Signal . . . . . . . . . . . . . . 2637.1 Navigation Signal Broadcasting Technology . . . . . . . . . . . . . . . 264

7.1.1 Signal-Generating Payload . . . . . . . . . . . . . . . . . . . . . 2657.1.2 Nonideal Characteristics of Broadcasting Channel . . . . 2717.1.3 Pre-distortion Technique . . . . . . . . . . . . . . . . . . . . . . . 2757.1.4 Influence of the Antenna on Navigation Signal . . . . . . 277

7.2 Navigation Signal Assessment . . . . . . . . . . . . . . . . . . . . . . . . . 2787.2.1 Influence Factors of Navigation Signal Quality . . . . . . 2787.2.2 Process of Navigation Signal Assessment . . . . . . . . . . 2807.2.3 Preprocessing of Evaluated Signal . . . . . . . . . . . . . . . . 281

7.3 Parameters and Methods of Navigation Signal Assessment . . . . 2827.3.1 Power Spectrum Distortion . . . . . . . . . . . . . . . . . . . . . 2827.3.2 Inter-frequency Signal Phase Inconsistency . . . . . . . . . 2847.3.3 Pilot and Data Signal Phase Inconsistency . . . . . . . . . . 2867.3.4 Deviation of Effective Power Rate of Signal

Component . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2877.3.5 Correlation Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2897.3.6 Zero-Crossing Deviation of S-Curve . . . . . . . . . . . . . . 2907.3.7 Zero-Crossing Slope Deviation of S-Curve . . . . . . . . . 2927.3.8 Distortion of Baseband Waveform . . . . . . . . . . . . . . . . 294

xii Contents

7.3.9 Coherence Between Carrier and PseudorandomCode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295

7.3.10 Deviation of Signal Phase . . . . . . . . . . . . . . . . . . . . . . 296

8 Satellite Navigation Information Management . . . . . . . . . . . . . . . . 2998.1 Overview of Satellite Navigation Information . . . . . . . . . . . . . . 300

8.1.1 Information Contents in the Space Segmentand Ground Segment . . . . . . . . . . . . . . . . . . . . . . . . . 300

8.1.2 Internal Information Contents of Satellitesin the Space Segment . . . . . . . . . . . . . . . . . . . . . . . . . 301

8.1.3 Internal Information Contents in the GroundSegment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302

8.1.4 Information Contents of Channel InteractionSupport . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302

8.2 Transmission Channels and Classification of SatelliteInformation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3038.2.1 Satellite Information Transmission Channel . . . . . . . . . 3038.2.2 Classification of Satellite Information . . . . . . . . . . . . . 304

8.3 Satellite Information Management and System Architecture . . . . 3078.3.1 Concepts and Definitions . . . . . . . . . . . . . . . . . . . . . . 3078.3.2 Technology Elements of Information Management . . . . 3088.3.3 Information System Architecture . . . . . . . . . . . . . . . . . 310

8.4 Strategy and Evaluation Technique of Satellite InformationManagement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3208.4.1 Information Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3208.4.2 Information Usability Management . . . . . . . . . . . . . . . 3218.4.3 Integrated Information Management . . . . . . . . . . . . . . 3238.4.4 Functions and Performance of Information Flow . . . . . 324

8.5 Satellite Message Management Technology . . . . . . . . . . . . . . . 3268.5.1 Classification of Satellite Message Information . . . . . . . 3268.5.2 Message Reception and Processing . . . . . . . . . . . . . . . 3278.5.3 Message Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3278.5.4 Main Points of Satellite Message Management . . . . . . . 330

9 Autonomous Operation Technology of Navigation Satellites . . . . . . 3319.1 Autonomous Navigation Technique . . . . . . . . . . . . . . . . . . . . . 332

9.1.1 Introduction of Autonomous Navigation . . . . . . . . . . . 3329.1.2 Principle of Autonomous Navigation . . . . . . . . . . . . . . 3359.1.3 Design of Autonomous Navigation . . . . . . . . . . . . . . . 3409.1.4 Autonomous Navigation Accuracy Analysis

and Simulation Demonstration . . . . . . . . . . . . . . . . . . 3529.2 Autonomous Health Management of Navigation Satellites . . . . . 353

9.2.1 Concept of Autonomous Health Management . . . . . . . 3539.2.2 Objectives and Workflow of Autonomous Health

Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355

Contents xiii

9.2.3 Framework of Autonomous Health Management . . . . . 3569.2.4 Fault Diagnosis Algorithm . . . . . . . . . . . . . . . . . . . . . 3589.2.5 Methods of Recovery and Reconfiguration . . . . . . . . . . 3619.2.6 Autonomous Health Management of BDS Platform . . . 363

9.3 Navigation Satellite Autonomous Integrity Monitoring . . . . . . . 3689.3.1 Integrity Monitoring Demands and Methods . . . . . . . . 3699.3.2 Analysis of Navigation Satellite Integrity Anomaly

Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3729.3.3 Principle of SAIM . . . . . . . . . . . . . . . . . . . . . . . . . . . 3739.3.4 Methods of SAIM . . . . . . . . . . . . . . . . . . . . . . . . . . . 375

10 Development and Prospect of Satellite Navigation Technology . . . . 37910.1 Development Trend of Satellite Navigation System . . . . . . . . . . 37910.2 Development Trend of Satellite Navigation Technologies . . . . . 383

10.2.1 New Navigation Signal Structure . . . . . . . . . . . . . . . . . 38410.2.2 Spaceborne Cold Atomic Clock Technology . . . . . . . . 38410.2.3 MEO/HEO and Deep-Space Satellite Navigation

Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38510.2.4 Long-Term Operation Technology of Autonomous

Constellation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38610.2.5 Advanced Inter-satellite Link Technology . . . . . . . . . . 38710.2.6 X-Ray Pulsar Navigation Application Technology . . . . 38710.2.7 LEO Satellite Navigation Augmentation

Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39110.2.8 Multisource Information Fusion Navigation

Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39110.2.9 Autonomous Health Management Technology

of Navigation Satellite . . . . . . . . . . . . . . . . . . . . . . . . 39310.3 Development Conception of BDS . . . . . . . . . . . . . . . . . . . . . . 395

References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397

xiv Contents

About the Authors

Jun Xie, research fellow, graduated from theUniversity of Defense Science and Technology, anexpert in the field of space electronic information inChina, and one of the leading figures in satellitenavigation technology. He is currently a member of thestanding committee of Science and TechnologyCommittee of CAST. He has been engaged in theresearch of navigation satellite system, navigationpayload, space microwave technology and so on for along time. It has won 1 special prize of NationalScience and Technology Progress Award, 3 first prizeand 2 third prize of Scientific and TechnologicalProgress Award in the army and ministries, andauthorized 11 invention patents.

Haihong Wang, research fellow, graduated fromNanjing University. He is the deputy director designerof Beidou satellite autonomous navigation subsystem.He has been engaged in research on orbital mechanicsof spacecraft and autonomous operation of navigationsatellite systems for over ten years. He was awarded thesecond prize of National Science and TechnologyProgress Award of the ministry of education, the sec-ond prize of Science and Technology Progress of theArmy, the first prize of national innovation andauthorized 5 invention patents.

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Peng Li, senior engineer, graduated from TsinghuaUniversity, is currently the general manager of theaerospace technology application and internationalbusiness department of ISSE. He is the deputy directordesigner of the Beidou satellite payload. He has beenengaged in the research of navigation system demon-stration, application, navigation system ground valida-tion, and navigation satellite payload design for overten years. He was awarded the second prize of Scienceand Technology Progress of the Army, and authorized5 invention patents.

Yansong Meng, researcher follow, graduated fromCAST-Xi’an. He is currently a member of the Scienceand Technology Committee and director of theNavigation CAST-Xi’an. He is the assistant chiefdesigner of Beidou satellite and technical director of theInter-satellite link system. He has been engaged in theresearch of satellite navigation and inter-satellite linktechnology for over ten years. He has published morethan 10 papers indexed by SCI and EI and authorized13 invention patents.

xvi About the Authors