CN113109840A - Ionosphere TEC real-time measurement method based on GNSS receiver - Google Patents

Ionosphere TEC real-time measurement method based on GNSS receiver Download PDF

Info

Publication number
CN113109840A
CN113109840A CN202110298242.3A CN202110298242A CN113109840A CN 113109840 A CN113109840 A CN 113109840A CN 202110298242 A CN202110298242 A CN 202110298242A CN 113109840 A CN113109840 A CN 113109840A
Authority
CN
China
Prior art keywords
tec
gnss
receiver
time
satellite
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202110298242.3A
Other languages
Chinese (zh)
Inventor
欧明
陈龙江
许娜
王妍
吴家燕
马宝田
陈亮
冯健
熊雯
於晓
刘钝
甄卫民
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China Institute of Radio Wave Propagation CETC 22 Research Institute
Original Assignee
China Institute of Radio Wave Propagation CETC 22 Research Institute
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China Institute of Radio Wave Propagation CETC 22 Research Institute filed Critical China Institute of Radio Wave Propagation CETC 22 Research Institute
Priority to CN202110298242.3A priority Critical patent/CN113109840A/en
Publication of CN113109840A publication Critical patent/CN113109840A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • G01S19/072—Ionosphere corrections
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a GNSS receiver-based ionosphere TEC real-time measurement method, which comprises the following steps: step 1, extracting real-time measurement data of a GNSS receiver: step 2, calculating the ionized layer TEC based on pseudo-range observation: step 3, calculating the ionized layer TEC based on the carrier phase: step 4, calculating the ionized layer TEC based on carrier phase leveling: step 5, establishing an ionized layer TEC observation equation: step 6, Kalman filtering real-time estimation: and 7, extracting and outputting the ionized layer real-time TEC information. The method disclosed by the invention has strong robustness and high calculation speed, can meet the requirements of GNSS receivers in different areas on high-precision real-time ionospheric measurement, thereby obtaining the high-precision ionospheric TEC parameter and having important practical value.

Description

Ionosphere TEC real-time measurement method based on GNSS receiver
Technical Field
The invention belongs to the technical field of ionosphere measurement, and particularly relates to a real-time ionosphere TEC measurement method based on a GNSS receiver in the field.
Background
The ionosphere is used as an important component of the earth space environment, has important influence effects on systems such as short-wave communication, satellite navigation, measurement and control monitoring and the like, utilizes various detection devices to realize accurate measurement of ionosphere parameters, and has very important practical value for eliminating and slowing down the influence of the ionosphere on a radio information system. With the development of global navigation satellite systems such as GPS, GLONASS, beidou, galileo and the like, the number of GNSS satellites operating in orbit is increasing, and GNSS receivers become one of the most important detection means of the ionosphere.
At present, in order to realize ionosphere TEC measurement, a GNSS receiver needs to jointly estimate hardware delay of GNSS satellites by means of observation data of other stations or directly download hardware delay information of GNSS satellites from the internet, and then perform least square estimation by using observation data accumulated for a long time at a single station to obtain a hardware delay value of the receiver, so as to extract parameters of the ionosphere TEC.
Disclosure of Invention
The invention aims to provide a real-time ionosphere TEC measurement method based on a GNSS receiver.
The invention adopts the following technical scheme:
the ionosphere TEC real-time measurement method based on the GNSS receiver is improved by comprising the following steps:
step 1, extracting real-time measurement data of a GNSS receiver:
step 11, acquiring a GNSS satellite broadcast ephemeris, and resolving to obtain longitude and latitude height coordinates of the GNSS satellite;
step 12, calculating to obtain longitude and latitude height coordinates of the GNSS receiver through a GNSS positioning program;
step 13, extracting the pseudo range P on the frequency L1 of the GNSS receiver1And pseudorange P at L2 frequency2；
Step 14, extracting carrier phase phi on L1 frequency of GNSS receiver1And carrier phase Φ at L2 frequency2；
Step 2, calculating the ionized layer TEC based on pseudo-range observation:
the TEC along the visible path for each GNSS satellite is obtained using pseudorange measurements at the GNSS receiver frequencies L1 and L2, which may be expressed as:
Figure BDA0002985116170000021
in the formula: TECP denotes ionosphere TEC, f based on pseudo-range observations1Signal frequency, f, representing the L1 band of GNSS satellites2Signal frequencies representing the L2 band of GNSS satellites;
step 3, calculating the ionized layer TEC based on the carrier phase:
the TEC for each GNSS satellite along the visible path is obtained using carrier phase measurements on GNSS receiver frequencies L1 and L2, which can be expressed as:
Figure BDA0002985116170000022
in the formula: c represents the speed of light, and the specific value is 299792458m/s, TECΦIndicating an ionospheric TEC value based on carrier phase observations;
step 4, calculating the ionized layer TEC based on carrier phase leveling:
the ionosphere TEC based on pseudo-range observation is used for leveling the carrier phase TEC, and meanwhile, the elevation angle is used for carrying out weighted average on the leveling effect, which can be expressed as:
Figure BDA0002985116170000023
wherein: k denotes a designated observation epoch, i denotes an epoch number, TECRSIonosphere TEC, e called phase levelingRSRepresenting an elevation angle between the GNSS receiver and the satellite; in the leveling process, the signal cutoff receiving elevation angle is 10 degrees, the sampling interval is set to be 30s, n is the number of samples before and after k epoch i, and data within 30 minutes in the same radian is taken for phase leveling;
step 5, establishing an ionized layer TEC observation equation:
step 51, calculating a projection function between the GNSS receiver R and the satellite S:
Figure BDA0002985116170000024
wherein: reRepresenting the earth radius, h is set to a reduced lamella height of 350 km;
step 52, calculating the latitude of the puncture point between the satellite and the receiver
Figure BDA0002985116170000031
And longitude λIPP：
Figure BDA0002985116170000032
Figure BDA0002985116170000033
Wherein:
Figure BDA0002985116170000034
latitude and longitude coordinates of the GNSS receiver; psi0The included angle of the receiver and the single-layer puncture point of the ionized layer is formed; a is the azimuth angle between the receiver and the satellite;
step 53, setting the phase leveling TEC change at the position of the receiver as a function associated with the observation elevation angle, the spatial coverage, the satellite, and the receiver hardware delay, and representing the method as follows:
Figure BDA0002985116170000035
wherein: k denotes a specified observation epoch, Δ λRSAnd
Figure BDA0002985116170000036
respectively representing the longitude and latitude difference between the receiver and the puncture point,
Figure BDA0002985116170000037
indicating the ionospheric vertical TEC, a corresponding to epoch time k1,R、a2,RRepresenting the fitting coefficient to be estimated, bRTEC bias representing receiver hardware delay introduction, bSTEC bias introduced for hardware delay of GNSS satellites;
step 6, Kalman filtering real-time estimation:
step 61, constructing a state vector to be estimated by Kalman filtering, which is specifically represented as:
Figure BDA0002985116170000038
wherein: k denotes the specified observation epoch, and the subscript N denotes the total number of all satellites of the GNSS receiver;
step 62, constructing a Kalman observation vector by using the phase leveling ionized layer TEC, which is specifically represented as:
Figure BDA0002985116170000039
wherein: k represents a designated observation epoch, and when the GNSS satellite is invisible in the current receiving time, the corresponding element in Y is set to 0;
step 63, constructing a state transition matrix phik,k-1Expressed as:
Φk,k-1＝I (10)
wherein: i represents an identity matrix;
step 64, constructing an observation matrix H, and calculating by adopting the following form:
Figure BDA0002985116170000041
wherein: k represents a specified observation epoch, and when the GNSS satellite is invisible in the current receiving moment, the corresponding element in the column of the H matrix GNSS satellite hardware delay is set to be 0;
step 65, constructing state transition covariance matrices Q and R, wherein the representation mode is as follows:
Figure BDA0002985116170000042
R＝0.04I (13)
wherein: i represents an identity matrix;
step 66, initial values of the given state vector
Figure BDA0002985116170000043
Updating the state vector along with the change of time, wherein k represents a current epoch, and k-1 represents a previous epoch at the current time, and the calculation method comprises the following steps:
Figure BDA0002985116170000044
wherein: p represents a state covariance matrix, and a superscript symbol "-" in the matrix represents a prior value;
step 67, updating the measurement equation according to the actual measurement data of the GNSS, wherein the calculation method is as follows:
Figure BDA0002985116170000045
wherein: k represents a gain matrix, and a superscript symbol 'Lambda' in the matrix represents an estimated value;
68, repeatedly executing the steps 61-67 by using the phase leveling ionized layer TEC obtained at each observation time of the GNSS receiver, so as to obtain a real-time state vector;
and 7, extracting and outputting the ionized layer real-time TEC information:
step 71, extracting the hardware delays of the satellite and the receiver according to the Kalman filtering state vector estimation value at each moment, and calculating to obtain the absolute TEC value estimated by the receiver in real time, wherein the calculating method comprises the following steps:
Figure BDA0002985116170000051
wherein: TEC (thermoelectric cooler)AIndicating the absolute TEC value of the ionized layer after hardware delay is removed;
and step 72, after the TEC value is estimated, the receiver stores and outputs the TEC value to a file for storage according to the sequence of the corresponding measurement time, the elevation angle, the azimuth angle and the TEC value of the receiver.
The invention has the beneficial effects that:
according to the method disclosed by the invention, the real-time estimation of the ionosphere hardware delay can be realized by only utilizing the observation data of a single GNSS receiver without depending on external data (for example, satellite hardware delay is obtained from the Internet), and the ionosphere TEC value can be obtained by real-time estimation. The method can meet the requirement of automatic ionospheric measurement of the GNSS receiver working off-line, has very high operation stability, and can provide a new real-time means for ionospheric measurement based on GNSS data.
According to the method disclosed by the invention, the Kalman filtering technology is adopted to calculate the TEC, and because the number of satellites visible at each epoch moment is small, the required calculation and storage resources are very small, the rapid calculation of the ionized layer TEC can be realized, and an effective technical approach is provided for the high-precision real-time measurement of the ionized layer.
The method disclosed by the invention has strong robustness and high calculation speed, can meet the requirements of GNSS receivers in different areas on high-precision real-time ionospheric measurement, thereby obtaining the high-precision ionospheric TEC parameter and having important practical value.
Drawings
FIG. 1 is a schematic flow diagram of the process of the present invention;
FIG. 2 is a diagram illustrating an example of GNSS receiver ionosphere TEC estimation results.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention mainly utilizes the GNSS receiver, realizes the ionosphere TEC real-time measurement based on the GNSS single machine by embedding the real-time Kalman filtering data processing method in the GNSS receiver, and lays a foundation for the design and the application of high-precision GNSS ionosphere measurement equipment.
Embodiment 1, as shown in fig. 1, this embodiment discloses a method for measuring an ionosphere TEC in real time based on a GNSS receiver, including the following steps:
step 1, extracting real-time measurement data of a GNSS receiver:
step 11, acquiring a GNSS satellite broadcast ephemeris, and resolving to obtain longitude and latitude height coordinates of the GNSS satellite;
step 12, calculating to obtain longitude and latitude height coordinates of the GNSS receiver through a GNSS positioning program;
step 13, extracting the pseudo range P on the frequency L1 of the GNSS receiver1Pseudorange P at (unit m) and L2 frequencies2(unit m);
step 14, extracting carrier phase phi on L1 frequency of GNSS receiver1(unit cycle) and carrier phase Φ at L2 frequency2(unit cycle);
step 2, calculating the ionized layer TEC based on pseudo-range observation:
the TEC along the visible path for each GNSS satellite is obtained using pseudorange measurements at the GNSS receiver frequencies L1 and L2, which may be expressed as:
Figure BDA0002985116170000061
in the formula: TEC (thermoelectric cooler)PIndicating ionosphere TEC, f based on pseudorange observations1Signal frequency, f, representing the L1 band of GNSS satellites2Signal frequencies representing the L2 band of GNSS satellites;
step 3, calculating the ionized layer TEC based on the carrier phase:
the TEC for each GNSS satellite along the visible path is obtained using carrier phase measurements on GNSS receiver frequencies L1 and L2, which can be expressed as:
Figure BDA0002985116170000062
in the formula: c represents the speed of light, and the specific value is 299792458m/s, TECΦIndicating an ionospheric TEC value based on carrier phase observations;
step 4, calculating the ionized layer TEC based on carrier phase leveling:
the ionosphere TEC based on pseudo-range observation is used for leveling the carrier phase TEC, and meanwhile, the elevation angle is used for carrying out weighted average on the leveling effect, which can be expressed as:
Figure BDA0002985116170000063
wherein: k denotes a designated observation epoch, i denotes an epoch number, TECRSIonosphere TEC, e called phase levelingRSRepresenting an elevation angle between the GNSS receiver and the satellite; in the leveling process, the signal cutoff receiving elevation angle is 10 degrees, the sampling interval is set to be 30s, n is the number of samples before and after k epoch i, and the data of 30 minutes in the same radian is generally taken for phase leveling;
step 5, establishing an ionized layer TEC observation equation:
step 51, calculating a projection function between the GNSS receiver R and the satellite S:
Figure BDA0002985116170000071
wherein: reRepresenting the earth radius, h is set to a reduced lamella height of 350 km;
step 52, calculating the latitude of the puncture point between the satellite and the receiver
Figure BDA0002985116170000072
And longitude λIPP：
Figure BDA0002985116170000073
Figure BDA0002985116170000074
Wherein:
Figure BDA0002985116170000075
latitude and longitude coordinates of the GNSS receiver; psi0The included angle of the receiver and the single-layer puncture point of the ionized layer is formed; a is the azimuth angle between the receiver and the satellite;
step 53, setting the phase leveling TEC change at the position of the receiver as a function associated with the observation elevation angle, the spatial coverage, the satellite, and the receiver hardware delay, and representing the method as follows:
Figure BDA0002985116170000076
wherein: k denotes a specified observation epoch, Δ λRSAnd
Figure BDA0002985116170000077
respectively representing the longitude and latitude difference between the receiver and the puncture point,
Figure BDA0002985116170000078
indicating the ionospheric vertical TEC, a corresponding to epoch time k1,R、a2,RRepresenting the fitting coefficient to be estimated, bRTEC bias (in TECU), b, introduced by hardware delay of receiverSTEC bias introduced for hardware delay of GNSS satellites (in TECU);
step 6, Kalman filtering real-time estimation:
step 61, constructing a state vector to be estimated by Kalman filtering, which is specifically represented as:
Figure BDA0002985116170000079
wherein: k denotes the specified observation epoch, and the subscript N denotes the total number of all satellites of the GNSS receiver;
step 62, constructing a Kalman observation vector by using the phase leveling ionized layer TEC, which is specifically represented as:
Figure BDA0002985116170000081
wherein: k represents a designated observation epoch, and when the GNSS satellite is invisible in the current receiving time, the corresponding element in Y is set to 0;
step 63, constructing a state transition matrix phik,k-1Expressed as:
Φk,k-1＝I (10)
wherein: i represents an identity matrix;
step 64, constructing an observation matrix H, and calculating by adopting the following form:
Figure BDA0002985116170000082
wherein: k represents a specified observation epoch, and when the GNSS satellite is invisible in the current receiving moment, the corresponding element in the column of the H matrix GNSS satellite hardware delay is set to be 0;
step 65, constructing state transition covariance matrices Q and R, wherein the representation mode is as follows:
Figure BDA0002985116170000083
R＝0.04I (13)
wherein: i represents an identity matrix;
step 66, initial values of the given state vector
Figure BDA0002985116170000084
Updating the state vector along with the change of time, wherein k represents a current epoch, and k-1 represents a previous epoch at the current time, and the calculation method comprises the following steps:
Figure BDA0002985116170000091
wherein: p represents a state covariance matrix, and a superscript symbol "-" in the matrix represents a prior value;
step 67, updating the measurement equation according to the actual measurement data of the GNSS, wherein the calculation method is as follows:
Figure BDA0002985116170000092
wherein: k represents a gain matrix, and a superscript symbol 'Lambda' in the matrix represents an estimated value;
68, repeatedly executing the steps 61-67 by using the phase leveling ionized layer TEC obtained at each observation time of the GNSS receiver, so as to obtain a real-time state vector;
and 7, extracting and outputting the ionized layer real-time TEC information:
step 71, extracting the hardware delays of the satellite and the receiver according to the Kalman filtering state vector estimation value at each moment, and calculating to obtain the absolute TEC value estimated by the receiver in real time, wherein the calculating method comprises the following steps:
Figure BDA0002985116170000093
wherein: TEC (thermoelectric cooler)AIndicating the absolute TEC value of the ionized layer after hardware delay is removed;
and step 72, after the TEC value is estimated, the receiver stores and outputs the TEC value to a file for storage according to the sequence of the corresponding measurement time, the elevation angle, the azimuth angle and the TEC value of the receiver.
FIG. 2 is a diagram illustrating an example of GNSS receiver ionosphere TEC estimation results.
In summary, the invention provides a real-time ionosphere TEC measurement method based on a GNSS receiver, which can estimate an ionosphere TEC value in real time by using only observation data of a single GNSS receiver without relying on external data (for example, acquiring satellite hardware delay from the internet). Meanwhile, the calculation and storage resources required by the method are very small, and the ionized layer TEC can be quickly calculated, so that an effective technical approach is provided for the high-precision real-time measurement of the ionized layer.

Claims (1)

1. A ionosphere TEC real-time measurement method based on a GNSS receiver is characterized by comprising the following steps:
step 1, extracting real-time measurement data of a GNSS receiver:
step 11, acquiring a GNSS satellite broadcast ephemeris, and resolving to obtain longitude and latitude height coordinates of the GNSS satellite;
step 12, calculating to obtain longitude and latitude height coordinates of the GNSS receiver through a GNSS positioning program;
step 13, extracting the pseudo range P on the frequency L1 of the GNSS receiver1And pseudorange P at L2 frequency2；
Step 14, extracting carrier phase phi on L1 frequency of GNSS receiver1And carrier phase Φ at L2 frequency2；
Step 2, calculating the ionized layer TEC based on pseudo-range observation:
the TEC along the visible path for each GNSS satellite is obtained using pseudorange measurements at the GNSS receiver frequencies L1 and L2, which may be expressed as:
Figure FDA0002985116160000011
in the formula: TEC (thermoelectric cooler)PIndicating ionosphere TEC, f based on pseudorange observations1Signal frequency, f, representing the L1 band of GNSS satellites2Signal frequencies representing the L2 band of GNSS satellites;
step 3, calculating the ionized layer TEC based on the carrier phase:
the TEC for each GNSS satellite along the visible path is obtained using carrier phase measurements on GNSS receiver frequencies L1 and L2, which can be expressed as:
Figure FDA0002985116160000012
in the formula: c represents the speed of light, and the specific value is 299792458m/s, TECΦIndicating an ionospheric TEC value based on carrier phase observations;
step 4, calculating the ionized layer TEC based on carrier phase leveling:
the ionosphere TEC based on pseudo-range observation is used for leveling the carrier phase TEC, and meanwhile, the elevation angle is used for carrying out weighted average on the leveling effect, which can be expressed as:
Figure FDA0002985116160000013
wherein: k denotes a designated observation epoch, i denotes an epoch number, TECRSIonosphere TEC, e called phase levelingRSRepresenting an elevation angle between the GNSS receiver and the satellite; in the leveling process, the signal cutoff receiving elevation angle is 10 degrees, the sampling interval is set to be 30s, n is the number of samples before and after k epoch i, and data within 30 minutes in the same radian is taken for phase leveling;
step 5, establishing an ionized layer TEC observation equation:
step 51, calculating a projection function between the GNSS receiver R and the satellite S:
Figure FDA0002985116160000021
wherein: reRepresenting the earth radius, h is set to a reduced lamella height of 350 km;
step 52, calculating the latitude of the puncture point between the satellite and the receiver
Figure FDA0002985116160000022
And longitude λIPP：
Figure FDA0002985116160000023
Figure FDA0002985116160000024
Wherein:
Figure FDA0002985116160000025
Figure FDA0002985116160000026
latitude and longitude coordinates of the GNSS receiver; psi0The included angle of the receiver and the single-layer puncture point of the ionized layer is formed; a is the azimuth angle between the receiver and the satellite;
step 53, setting the phase leveling TEC change at the position of the receiver as a function associated with the observation elevation angle, the spatial coverage, the satellite, and the receiver hardware delay, and representing the method as follows:
Figure FDA0002985116160000027
wherein: k denotes a specified observation epoch, Δ λRSAnd
Figure FDA0002985116160000028
respectively representing the longitude and latitude difference between the receiver and the puncture point,
Figure FDA0002985116160000029
indicating the ionospheric vertical TEC, a corresponding to epoch time k1,R、a2,RRepresenting the fitting coefficient to be estimated, bRTEC bias representing receiver hardware delay introduction, bSTEC bias introduced for hardware delay of GNSS satellites;
step 6, Kalman filtering real-time estimation:
step 61, constructing a state vector to be estimated by Kalman filtering, which is specifically represented as:
Figure FDA00029851161600000210
wherein: k denotes the specified observation epoch, and the subscript N denotes the total number of all satellites of the GNSS receiver;
step 62, constructing a Kalman observation vector by using the phase leveling ionized layer TEC, which is specifically represented as:
Figure FDA0002985116160000031
wherein: k represents a designated observation epoch, and when the GNSS satellite is invisible in the current receiving time, the corresponding element in Y is set to 0;
step 63, constructing a state transition matrix phik,k-1Expressed as:
Φk,k-1＝I (10)
wherein: i represents an identity matrix;
step 64, constructing an observation matrix H, and calculating by adopting the following form:
Figure FDA0002985116160000032
wherein: k represents a specified observation epoch, and when the GNSS satellite is invisible in the current receiving moment, the corresponding element in the column of the H matrix GNSS satellite hardware delay is set to be 0;
step 65, constructing state transition covariance matrices Q and R, wherein the representation mode is as follows:
Figure FDA0002985116160000033
R＝0.04I (13)
wherein: i represents an identity matrix;
step 66, initial values of the given state vector
Figure FDA0002985116160000034
Updating the state vector along with the change of time, wherein k represents a current epoch, and k-1 represents a previous epoch at the current time, and the calculation method comprises the following steps:
Figure FDA0002985116160000041
wherein: p represents a state covariance matrix, and a superscript symbol "-" in the matrix represents a prior value;
step 67, updating the measurement equation according to the actual measurement data of the GNSS, wherein the calculation method is as follows:
Figure FDA0002985116160000042
wherein: k represents a gain matrix, and a superscript symbol 'Lambda' in the matrix represents an estimated value;
68, repeatedly executing the steps 61-67 by using the phase leveling ionized layer TEC obtained at each observation time of the GNSS receiver, so as to obtain a real-time state vector;
and 7, extracting and outputting the ionized layer real-time TEC information:
step 71, extracting the hardware delays of the satellite and the receiver according to the Kalman filtering state vector estimation value at each moment, and calculating to obtain the absolute TEC value estimated by the receiver in real time, wherein the calculating method comprises the following steps:
Figure FDA0002985116160000043
wherein: TEC (thermoelectric cooler)AIndicating the absolute TEC value of the ionized layer after hardware delay is removed;
and step 72, after the TEC value is estimated, the receiver stores and outputs the TEC value to a file for storage according to the sequence of the corresponding measurement time, the elevation angle, the azimuth angle and the TEC value of the receiver.
CN202110298242.3A 2021-03-19 2021-03-19 Ionosphere TEC real-time measurement method based on GNSS receiver Pending CN113109840A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110298242.3A CN113109840A (en) 2021-03-19 2021-03-19 Ionosphere TEC real-time measurement method based on GNSS receiver

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110298242.3A CN113109840A (en) 2021-03-19 2021-03-19 Ionosphere TEC real-time measurement method based on GNSS receiver

Publications (1)

Publication Number Publication Date
CN113109840A true CN113109840A (en) 2021-07-13

Family

ID=76711837

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110298242.3A Pending CN113109840A (en) 2021-03-19 2021-03-19 Ionosphere TEC real-time measurement method based on GNSS receiver

Country Status (1)

Country Link
CN (1) CN113109840A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114384556A (en) * 2021-12-31 2022-04-22 中国电波传播研究所（中国电子科技集团公司第二十二研究所） Regional high-resolution ionosphere TEC map reconstruction method
CN115166799A (en) * 2022-07-11 2022-10-11 中国科学院精密测量科学与技术创新研究院 GNSS precision single-point positioning method considering hardware delay time-varying characteristics
CN116203591A (en) * 2022-10-31 2023-06-02 中国电波传播研究所（中国电子科技集团公司第二十二研究所） Method for jointly estimating high-precision ionosphere VTEC of China area based on multiple stations

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101274629B1 (en) * 2012-11-02 2013-06-13 한국 천문 연구원 Hardware bias calculating system and method
WO2016185500A1 (en) * 2015-05-19 2016-11-24 Spacearth Technology S.R.L. Method for forecasting ionosphere total electron content and/or scintillation parameters
CN109828288A (en) * 2019-01-23 2019-05-31 东南大学 A kind of real-time ionospheric modeling and monitoring method based on region CORS
CN110275186A (en) * 2019-07-11 2019-09-24 武汉大学 The ionosphere the GNSS normalization of LEO satellite enhancing and Fusion Modeling Method
CN112433234A (en) * 2020-11-19 2021-03-02 中国电波传播研究所（中国电子科技集团公司第二十二研究所） Ionized layer TEC real-time estimation method suitable for GNSS receiver in middle and low latitude areas

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101274629B1 (en) * 2012-11-02 2013-06-13 한국 천문 연구원 Hardware bias calculating system and method
WO2016185500A1 (en) * 2015-05-19 2016-11-24 Spacearth Technology S.R.L. Method for forecasting ionosphere total electron content and/or scintillation parameters
CN109828288A (en) * 2019-01-23 2019-05-31 东南大学 A kind of real-time ionospheric modeling and monitoring method based on region CORS
CN110275186A (en) * 2019-07-11 2019-09-24 武汉大学 The ionosphere the GNSS normalization of LEO satellite enhancing and Fusion Modeling Method
CN112433234A (en) * 2020-11-19 2021-03-02 中国电波传播研究所（中国电子科技集团公司第二十二研究所） Ionized layer TEC real-time estimation method suitable for GNSS receiver in middle and low latitude areas

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
ADELA ANGHEL 等: "Near real-time monitoring of the ionosphere using dual frequency GPS data in a Kalman filter approach", 《2008 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION, QUALITY AND TESTING, ROBOTICS》 *
ADELA FLORINA ANGHEL: "Studies of the thermosphere, ionosphere, and plasmasphere using wavelet analysis, neural networks, and Kalman filters", 《UNIVERSITY OF COLORADO AT BOULDER》 *
李慧茹: "基于 kalman 滤波的近实时电离层 TEC 监测与反演", 《中国优秀博硕士学位论文全文数据库(博士)基础科学辑》 *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114384556A (en) * 2021-12-31 2022-04-22 中国电波传播研究所（中国电子科技集团公司第二十二研究所） Regional high-resolution ionosphere TEC map reconstruction method
CN114384556B (en) * 2021-12-31 2024-05-14 中国电波传播研究所（中国电子科技集团公司第二十二研究所） Regional high-resolution ionosphere TEC map reconstruction method
CN115166799A (en) * 2022-07-11 2022-10-11 中国科学院精密测量科学与技术创新研究院 GNSS precision single-point positioning method considering hardware delay time-varying characteristics
CN116203591A (en) * 2022-10-31 2023-06-02 中国电波传播研究所（中国电子科技集团公司第二十二研究所） Method for jointly estimating high-precision ionosphere VTEC of China area based on multiple stations
CN116203591B (en) * 2022-10-31 2024-02-27 中国电波传播研究所（中国电子科技集团公司第二十二研究所） Method for jointly estimating high-precision ionosphere VTEC of China area based on multiple stations

Similar Documents

Publication Publication Date Title
CN109709591B (en) GNSS high-precision positioning method for intelligent terminal
CN108344415B (en) Combined navigation information fusion method
CN113109840A (en) Ionosphere TEC real-time measurement method based on GNSS receiver
JP2010528320A (en) Reduction of distance-dependent error in real-time kinematic (RTK) positioning
Bahrami et al. Instantaneous Doppler-aided RTK positioning with single frequency receivers
EP3109672A1 (en) Gnss receiver with a capability to resolve ambiguities using an uncombined formulation
CN111965673A (en) Time frequency transfer method of single-frequency precise single-point positioning algorithm based on multiple GNSS
US9322926B2 (en) Method and apparatus for synchronization and precise time computation for GNSS receivers
Suzuki et al. Evaluation of precise point positioning using MADOCA-LEX via Quasi-Zenith satellite system
CN112285749A (en) Method and device for processing original observation data of global navigation satellite system and storage medium
Bahrami et al. A Kalman filter-based Doppler-smoothing of code pseudoranges in GNSS-challenged environments
Kanhere et al. Integrity for GPS/LiDAR fusion utilizing a RAIM framework
Angrisano et al. Using local redundancy to improve GNSS absolute positioning in harsh scenario
EP3265846A1 (en) Gnss cooperative receiver system
Hejc et al. Bayesian sensor fusion of Wi-Fi signal strengths and GNSS code and carrier phases for positioning in urban environments
Hwang et al. TDOA-based ASF map generation to increase Loran positioning accuracy in Korea
Le Achieving decimetre accuracy with single frequency standalone GPS positioning
Kim et al. A low-cost high-precision vehicle navigation system for urban environment using time differenced carrier phase measurements
Noureldin et al. Global Positioning System
US20150070213A1 (en) Location determination in multi-system gnns environment using conversion of data into a unified format
Dou Performance of GPS and partially deployed BeiDou for real-time kinematic positioning in Western Canada
태현우 et al. Analysis of Multi-Differential GNSS Positioning Accuracy in Various Signal Reception Environments
Luo et al. Super-Resolution GPS Receiver: User's Acceleration Computation
CN111337959A (en) Terminal positioning method and device, positioning system and mobile terminal
Pasnikowski et al. Challenges for integrity in navigation of high precision

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20210713