Complex heterogeneous navigation constellation implementation method based on low orbit, medium orbit and high orbit

The invention provides a complex heterogeneous navigation constellation implementation method based on low-orbit, medium-orbit and high-orbit. The complex heterogeneous navigation constellation is determined to comprise a low-orbit sub-constellation and a medium-orbit and high-orbit sub-constellation; designing a low-orbit sub-constellation capable of performing navigation work independent of the medium-and-high-orbit sub-constellation, determining that the configuration of the low-orbit sub-constellation comprises a low-orbit Walker constellation if the coverage of a south pole and a north pole does not need to be considered, and designing a first variable of the low-orbit Walker constellation; if the coverage of the south pole and the north pole needs to be considered, determining that the configuration of the low-orbit sub-constellation comprises a low-orbit Walker constellation and a polar-orbit constellation, and designing a first variable of the low-orbit Walker constellation and a second variable of th