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The satellite orbit parameters in the ephemeris and location of land receiver were studied. Universal mathematic models of Doppler frequency-shift were deduced using geometric vector. The Doppler frequency between satellites and land receivers and relations of Doppler frequency-shift and elevation angle are analyzed in low, middle and high orbits, and algorithm models were constructed. The simulation results show the effectiveness and universality of the models, and it could be used for estimation and compensation of Doppler frequency-shift.