中国空间科学技术

中国空间科学技术 ›› 2026, Vol. 46 ›› Issue (4): 107-118.doi: 10.16708/j.cnki.1000-758X.2026.0061

• 低轨导航技术专栏 • 上一篇    下一篇

基于Galileo高精度服务的低轨卫星自主实时精密定轨

刘星宇1，王煜斌1, 2,*，李敏2，李修贤1, 2，赵齐乐2   

  1. 1.武汉大学测绘学院，武汉430079
    2.武汉大学卫星导航定位技术研究中心，武汉430079
  • 收稿日期:2025-10-14 修回日期:2025-11-11 录用日期:2026-03-22 发布日期:2026-05-18 出版日期:2026-07-31

Autonomous real-time precise orbit determination of low Earth orbit satellites based on Galileo High Accuracy Service

LIU Xingyu1，WANG Yubin1, 2,*，LI Min2, LI Xiuxian1, 2, ZHAO Qile2   

  1. 1.School of Geodesy and Geomatics, Wuhan University，Wuhan 430079, China
    2.GNSS research center，Wuhan University，Wuhan 430079, China
  • Received:2025-10-14 Revision received:2025-11-11 Accepted:2026-03-22 Online:2026-05-18 Published:2026-07-31

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摘要： 低延时、高精度的卫星轨道是低轨导航增强、巨型互联网星座等低轨卫星大规模应用的关键，因此研究基于Galileo高精度服务（HAS）的低轨卫星自主实时定轨对其大规模应用具有重大意义。评估了GPS与Galileo的广播星历及HAS产品的精度，并基于国产低轨卫星平台星载GNSS观测值对实时定轨性能进行了研究和验证。首先以GPS LNAV、Galileo INAV广播星历及同期Galileo HAS改正信息为数据基础，系统评估了HAS产品的可用性与精度，分析结果表明Galileo卫星的可用性均达到95.0%，而GPS仅能达到85.9%。GPS和Galileo卫星轨道HAS产品精度均优于10cm，钟差误差标准差均优于0.3ns，轨道与钟差精度较广播星历显著提升。进一步使用HAS产品，基于国产卫星平台星载GPS与Galileo观测数据，开展低轨卫星实时精密定轨性能评估，基于星载GPS观测值的实时定轨切向、法向、径向、三维精度分别为8.9cm、4.1cm、4.2cm、10.7cm，而基于Galileo观测值的实时定轨各方向精度则分别为7.4cm、3.7cm、4.4cm、9.5cm，较使用广播星历的三维实时定轨精度分别提升了58.5%、30.1%，定轨精度得到了显著的提升。通过顾及空间信号测距误差参数补偿后，基于GPS与Galileo广播星历的实时定轨精度分别提升42.9%与24.4%，而基于HAS产品的实时定轨精度提升效果有限，仅能分别提升4.5%与10.4%。研究表明，基于Galileo HAS精密产品的低轨卫星实时精密定轨达到10cm级定轨精度，能够实现高精度的低轨卫星自主实时轨道更新，可为低轨卫星实时高精度应用提供轨道位置数据支撑。

关键词: 低轨卫星；实时精密定轨；星载Galileo, 广播星历；Galileo高精度服务

Abstract: Low-latency, high-precision satellite orbits are critical for large-scale applications of low-Earth orbit (LEO) satellites, such as navigation augmentation and massive internet constellations. Therefore, researching real-time orbit determination for LEO satellites based on Galileo High Accuracy Service (HAS) holds significant importance for their widespread deployment. This paper evaluates the accuracy of broadcast ephemeris and HAS products for GPS and Galileo, and investigates and validates real-time orbit determination performance using onboard GNSS observations from a Chinese LEO satellite platform. First, using GPS LNAV, Galileo INAV broadcast ephemeris, and concurrent Galileo HAS correction data as the foundation, the availability and accuracy of HAS products are systematically evaluated. Analysis revealed that Galileo satellite availability reached 95.0%, while GPS only achieved 85.9%. Both GPS and Galileo orbital HAS products achieved accuracy better than 10cm, with clock offset standard deviations better than 0.3ns, representing significant improvements over broadcast ephemeris in orbit and clock offset precision. This study further employed HAS products to evaluate real-time high-precision orbit determination performance for low-Earth orbit satellites using onboard GPS and Galileo observations from Chinese satellite platforms. The real-time orbit determination accuracy for along-track, cross-track, radial, and three-dimensional components based on onboard GPS observations is 8.9cm, 4.1cm, 4.2cm, and 10.7cm, respectively, while the real-time orbit determination accuracy in all directions based on Galileo observations is 7.4cm, 3.7cm, 4.4cm, and 9.5cm, respectively, representing improvements of 58.5% and 30.1% over real-time orbit determination using broadcast ephemeris alone, demonstrating significant accuracy gains. After accounting for signal in space ranging error parameter compensation, real-time orbit determination accuracy based on GPS and Galileo broadcast ephemeris improved by 42.9% and 24.4%, respectively. In contrast, the improvement based on HAS ephemeris was limited, achieving only 4.5% and 10.4% enhancements. The study demonstrates that real-time precise orbit determination for LEO satellites based on Galileo HAS precise ephemeris achieves 10cm-level accuracy. This enables autonomous real-time orbit updates with high precision for LEO satellites, providing orbital position data support for real-time high-precision applications of LEO satellites.

Key words: low Earth orbit satellite, real-time precise orbit determination, onboard GNSS, broadcast ephemeris, Galileo HAS