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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd"> <html> <head> <title>page_322</title> <link rel="stylesheet" href="reset.css" type="text/css" media="all"> <meta http-equiv="Content-Type" content="text/html; charset=UTF-8" /> </head> <body> <table summary="top nav" border="0" width="100%"> <tr> <td align="left" width="30%" style="background: #EEF3E2"><a style="color: blue; font-size: 120%; font-weight: bold; text-decoration: none; font-family: verdana;" href="page_321.html">< previous page</a></td> <td id="ebook_previous" align="center" width="40%" style="background: #EEF3E2"><strong style="color: #2F4F4F; font-size: 120%;">page_322</strong></td> <td align="right" width="30%" style="background: #EEF3E2"><a style="color: blue; font-size: 120%; font-weight: bold; text-decoration: none; font-family: verdana;" href="page_323.html">next page ></a></td> </tr> <tr> <td id="ebook_page" align="left" colspan="3" style="background: #ffffff; padding: 20px;"> <table border="0" width="100%" cellpadding="0"><tr><td align="center"> <table border="0" cellpadding="2" cellspacing="0" width="100%"><tr><td align="left"></td> <td align="right"></td> </tr></table></td></tr><tr><td align="left"><p></p><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="right"><font face="Times New Roman, Times, Serif" size="2" color="#FF0000">Page 322</font></td></tr></table><table cellpadding="0" cellspacing="0" border="0" width="100%"><tr><td height="12"></td></tr><tr><td><table cellspacing="0" width="624" cellpadding="4"><tr><td colspan="3" valign="top"><font face="Times New Roman, Times, Serif" size="2">TABLE E.2 Equations for Calculating Satellite ECEF Position Based on Navigation Message Ephemeris Parameters and Time </font></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><img src="7c9a75bd26463dda83519876410969f0.gif" border="0" alt="0322-01.GIF" width="155" height="25" /></font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">s</font></td></tr></table></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Relativistic correction term</font></td></tr><tr><td valign="top"><font face="Symbol" size="2">D</font><font face="Times New Roman, Times, Serif" size="2"><i>t</i></font><font face="Times New Roman, Times, Serif" size="1"><sub>sv</sub></font><font face="Times New Roman, Times, Serif" size="2"> = <i>a</i></font><font face="Times New Roman, Times, Serif" size="1"><sub>0</sub></font><font face="Times New Roman, Times, Serif" size="2"> + <i>a</i></font><font face="Times New Roman, Times, Serif" size="1"><sub>1</sub></font><font face="Times New Roman, Times, Serif" size="2">(<i>t</i></font><font face="Times New Roman, Times, Serif" size="1"><sub>sv</sub></font><font face="Times New Roman, Times, Serif" size="2"> - <i>t</i></font><font face="Times New Roman, Times, Serif" size="1"><sub>oc</sub></font><font face="Times New Roman, Times, Serif" size="2">) + <i>a</i></font><font face="Times New Roman, Times, Serif" size="1"><sub>2</sub></font><font face="Times New Roman, Times, Serif" size="2">(<i>t</i></font><font face="Times New Roman, Times, Serif" size="1"><sub>sv</sub></font><font face="Times New Roman, Times, Serif" size="2"> - <i>t</i></font><font face="Times New Roman, Times, Serif" size="1"><sub>oc</sub></font><font face="Times New Roman, Times, Serif" size="2">)2 + </font><font face="Symbol" size="2">D</font><font face="Times New Roman, Times, Serif" size="2"><i>t</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>r</sub></font></i></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">s</font></td></tr></table></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Correction to satellite clock</font></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>t</i> = <i>t</i></font><font face="Times New Roman, Times, Serif" size="1"><sub>sv</sub></font><font face="Times New Roman, Times, Serif" size="2"> - </font><font face="Symbol" size="2">D</font><font face="Times New Roman, Times, Serif" size="2"><i>t</i></font><font face="Times New Roman, Times, Serif" size="1"><sub>sv</sub></font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">s</font></td></tr></table></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Corrected message transmission time</font></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><img src="ec82b54ad1280364c7524201efa32f55.gif" border="0" alt="0322-02.GIF" width="84" height="24" /></font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">m</font></td></tr></table></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Orbit semimajor axis</font></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><img src="db679d275028b777283a5be7e718c5f9.gif" border="0" alt="0322-03.GIF" width="81" height="36" /></font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">rad/s</font></td></tr></table></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Computed mean motion</font></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>t</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font></i><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="2"> = <i>t</i> - <i>t</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>oe</sub></font></i></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">s</font></td></tr></table></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Time from ephemeris reference epoch</font></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>n = n</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>o</sub></font></i><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="2"> + </font><font face="Symbol" size="2">D</font><font face="Times New Roman, Times, Serif" size="2"><i>n</i></font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">rad/s</font></td></tr></table></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Corrected mean motion</font></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>M</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font><font face="Times New Roman, Times, Serif" size="2"> = M</font></i><font face="Times New Roman, Times, Serif" size="2"></font><font face="Times New Roman, Times, Serif" size="1"><sub>0</sub></font><font face="Times New Roman, Times, Serif" size="2"> + <i>t</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font><font face="Times New Roman, Times, Serif" size="2">n</font></i></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">rad</font></td></tr></table></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Mean anomaly</font></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>E</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font><font face="Times New Roman, Times, Serif" size="2"> = M</font><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font></i><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="2"> + <i>e</i> sin(<i>E</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font></i><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="2">)</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">rad</font></td></tr></table></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Kepler's equation for eccentric anomaly</font></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><img src="5e20c3b9fd92ff928984ca29c2b96dcf.gif" border="0" alt="0322-04.GIF" width="294" height="38" /></font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">rad</font></td></tr></table></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">True anomaly</font></td></tr><tr><td valign="top"><font face="Symbol" size="2">f</font><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font><font face="Times New Roman, Times, Serif" size="2"> = </font><font face="Symbol" size="2">n</font><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font><font face="Times New Roman, Times, Serif" size="2"> + </font><font face="Symbol" size="2">w</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">rad</font></td></tr></table></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Argument of latitude</font></td></tr><tr><td valign="top"><font face="Symbol" size="2">d</font><font face="Times New Roman, Times, Serif" size="2"><i>u</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font><font face="Times New Roman, Times, Serif" size="2"> = C</font><font face="Times New Roman, Times, Serif" size="1"><sub>us</sub></font></i><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="2"> sin(2</font><font face="Symbol" size="2">f</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>k</i></sub></font><font face="Times New Roman, Times, Serif" size="2">) + <i>C</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>uc</sub></font></i><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="2"> cos (2</font><font face="Symbol" size="2">f</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>k</i></sub></font><font face="Times New Roman, Times, Serif" size="2">)</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">rad</font></td></tr></table></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Arguement of latitude correction</font></td></tr><tr><td valign="top"><font face="Symbol" size="2">d</font><font face="Times New Roman, Times, Serif" size="2"><i>r</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font></i><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="2"> = <i>C</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>rs</sub></font></i><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="2"> sin(2</font><font face="Symbol" size="2">f</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>k</i></sub></font><font face="Times New Roman, Times, Serif" size="2">) + <i>C</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>rc</sub></font></i><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="2"> cos(2</font><font face="Symbol" size="2">f</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>k</i></sub></font><font face="Times New Roman, Times, Serif" size="2">)</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">m</font></td></tr></table></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Radius correction</font></td></tr><tr><td valign="top"><font face="Symbol" size="2">d</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>ik</i></sub><i></i></font><i><font face="Times New Roman, Times, Serif" size="2"> = C</font><font face="Times New Roman, Times, Serif" size="1"><sub>is</sub></font></i><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="2"> sin(2</font><font face="Symbol" size="2">f</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>k</i></sub></font><font face="Times New Roman, Times, Serif" size="2">) + <i>C</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>ic</sub></font></i><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="2"> cos(2</font><font face="Symbol" size="2">f</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>k</i></sub></font><font face="Times New Roman, Times, Serif" size="2">)</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">rad</font></td></tr></table></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Inclination correction</font></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>u</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font></i><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="2"> = </font><font face="Symbol" size="2">f</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>k</i></sub></font><font face="Times New Roman, Times, Serif" size="2"> + </font><font face="Symbol" size="2">d</font><font face="Times New Roman, Times, Serif" size="2"><i>u</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font></i></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">rad</font></td></tr></table></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Correction argument of latitude</font></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>r</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font></i><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="2"> = <i>A</i>[1 - <i>e</i> cos(<i>E</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font></i><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="2">)] + </font><font face="Symbol" size="2">d</font><font face="Times New Roman, Times, Serif" size="2"><i>r</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font></i></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">m</font></td></tr></table></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Corrected radius]</font></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>i</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font><font face="Times New Roman, Times, Serif" size="2"> = i</font></i><font face="Times New Roman, Times, Serif" size="2"></font><font face="Times New Roman, Times, Serif" size="1"><sub>0</sub></font><font face="Times New Roman, Times, Serif" size="2"> + </font><font face="Symbol" size="2">d</font><font face="Times New Roman, Times, Serif" size="2"><i>i</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font></i><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="2"> + <i>t</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font></i><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Symbol" size="2">D</font><font face="Times New Roman, Times, Serif" size="2"><i>i</i></font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">rad</font></td></tr></table></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Corrected inclination</font></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><img src="9e041386491c9287148fc9d6eed1d377.gif" border="0" alt="0322-05.GIF" width="112" height="25" /></font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">m</font></td></tr></table></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>x</i> position in orbital plane</font></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><img src="6affb23cb2f5ddfa11d7181e0a99cf1c.gif" border="0" alt="0322-06.GIF" width="111" height="25" /></font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">m</font></td></tr></table></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>y</i> position in orbital plane</font></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><img src="daf265197a018b123c08994f6e885aff.gif" border="0" alt="0322-07.GIF" width="222" height="24" /></font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">rad</font></td></tr></table></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Corrected longitude of ascending node</font></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><img src="824afbb452aaaf5ec27ce01bb68af608.gif" border="0" alt="0322-08.GIF" width="258" height="24" /></font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">m</font></td></tr></table></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Satellite <i>x</i> ECEF coordinate</font></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><img src="8106622d9bd13b155970d9ccfb9774d0.gif" border="0" alt="0322-09.GIF" width="259" height="25" /></font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">m</font></td></tr></table></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Satellite <i>y</i> ECEF coordinate</font></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><img src="b1ddf0c72e2dd65b7d70f4c900edf614.gif" border="0" alt="0322-10.GIF" width="107" height="25" /></font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">m</font></td></tr></table></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Satellite <i>z</i> ECEF coordinate</font></td></tr></table></td></tr></table><br /><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td><font face="Times New Roman, Times, Serif" size="3">A few comments are appropriate concerning Table E.2. The variable <i>t</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font></i><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="3"> is the actual total time difference between the time <i>t</i> and the ephemeris reference time <i>t</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>oe</sub></font></i><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="3">. The calculation must account for beginning or end of week crossovers; that is, if <i>t</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font></i><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="3"> is greater than 302,400 s, subtract 604,800 seconds from <i>t</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font></i><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="3">. If <i>t</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font></i><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="3"> is less than -302,400 s, add 604,800 s to <i>t</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font></i><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="3">. The equation for <i>E</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font></i><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="3"> must be solved iteratively. Various iterative solution techniques are considered in Ref. 144.</font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td><font face="Times New Roman, Times, Serif" size="3">Table E.3 [34] contains a complete example set of ephemeris parameters. When these ephemeris parameters are used in the equations of Table E.2, the space-vehicle (satellite) time offset and ECEF satellite antenna coordinates can be determined. The results of these calculations are shown in Table E.4.</font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td>⌨️ 快捷键说明
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