CN116299618A - Carrier phase satellite common view time transfer method based on PPP (point-to-point protocol) calculation parameters - Google Patents
Carrier phase satellite common view time transfer method based on PPP (point-to-point protocol) calculation parameters Download PDFInfo
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- 239000005433 ionosphere Substances 0.000 claims abstract description 34
- 238000012937 correction Methods 0.000 claims abstract description 13
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- 239000004973 liquid crystal related substance Substances 0.000 claims description 14
- 239000005436 troposphere Substances 0.000 claims description 11
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- 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
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
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Abstract
The invention discloses a carrier phase satellite common view time transfer method based on PPP resolving parameters, which comprises the steps of acquiring double-frequency pseudo-range and carrier phase original observation data by a receiver, establishing a double-frequency ionosphere combination equation, and resolving by PPP; according to a carrier phase ionosphere combination equation of a single co-view satellite, the time difference between a receiver and a co-view satellite i of a navigation system S is obtained through calculation; calculating the inter-station comparison time difference of the common-view satellite i; and selecting an optimal common-view satellite by adopting a common-view satellite selection method with the minimum combination of a sliding window and a standard deviation, calculating the time difference between the selected optimal common-view satellite and two receivers, and further calculating the comparison time difference between stations. The invention adopts the satellite common parallax technology to eliminate residual errors and symmetrical atmospheric delay errors after the correction of the satellite-end precise products in PPP time transmission.
Description
Technical Field
The invention belongs to the fields of satellite navigation time service, time frequency transmission and the like, and particularly relates to a carrier phase satellite common view time transmission method based on PPP (point-to-point protocol) calculation parameters.
Background
The Beidou No. three global satellite navigation system (BDS-3) provides positioning, navigation and time service for ground users, the satellite navigation system is widely used in the fields of high-precision time transmission, time synchronization and the like, currently, the main high-precision GNSS time transmission method comprises satellite common view, full view and precision single point positioning (PPP) technologies, wherein the time transmission precision of the satellite common view technology is reduced along with the increase of the time transmission distance, the full view and precision single point positioning (PPP) technologies are not limited by the distance, the PPP time transmission precision is the highest, and high-precision satellite orbit and clock error products are needed. The correlation among satellite common view, total view and PPP time transfer methods is not strong, and errors in terms of ionization layer higher-order terms, troposphere delay, satellite orbit clock correction residual errors and the like also exist in PPP time transfer.
Disclosure of Invention
The invention aims to reduce the influence of errors in the aspects of ionization layer higher-order terms, tropospheric delay, satellite orbit clock correction residual errors and the like on time transfer precision in PPP time transfer, and provides a carrier phase satellite common view time transfer method based on PPP calculation parameters so as to improve the traditional PPP time transfer precision.
The above object of the present invention is achieved by the following technical means:
the carrier phase satellite common view time transfer method based on PPP resolving parameters comprises the following steps:
step A, acquiring original observation data of a double-frequency pseudo range and a carrier phase by using a receiver, establishing a double-frequency ionosphere combination equation by using a precise satellite orbit and a clock correction, and obtaining a receiver position increment vector, zenith troposphere wet delay, time difference between the receiver and a navigation system S and carrier phase integer period ambiguity between the receiver and an ith satellite of the navigation system S by PPP (point-to-point protocol) solution;
step B, substituting the position increment vector of the receiver, the zenith troposphere wet delay and the carrier phase integer period ambiguity between the receiver and the ith satellite of the navigation system S into a single co-view satellite carrier phase ionosphere combination equation, and solving to obtain the time difference between the receiver and the co-view satellite i of the navigation system S;
step C, calculating the inter-station comparison time difference of the common-view satellite i according to the time difference between the receiver and the common-view satellite i and an inter-station comparison time difference equation;
and D, selecting an optimal common-view satellite by adopting a common-view satellite selection method with the minimum combination of a sliding window and a standard deviation, calculating the time difference between the selected optimal common-view satellite and two receivers, and further calculating the comparison time difference between stations.
In step a, as described above, the dual-frequency ionosphere combination equation is:
wherein, the liquid crystal display device comprises a liquid crystal display device,
pseudo-range observations combined for the ionosphere between the receiver and the ith satellite in the navigation system S, ->
For carrier phase observations of the ionosphere combination between the receiver and the ith satellite in the navigation system S, S and i are the navigation system and satellite number, respectively, r is the receiver number, +.>
For the pseudo-range original observation data of the 1 st frequency point between the receiver and the ith satellite in the navigation system S,/L>
For the pseudo-range original observation data of the 2 nd frequency point between the receiver and the ith satellite in the navigation system S,/L>
For the original observation data of the carrier phase of the 1 st frequency point between the receiver and the ith satellite in the navigation system S,/L>
Alpha is the original observation data of carrier phase of the 2 nd frequency point between the receiver and the ith satellite in the navigation system S 1 And alpha 2 Are all ionosphere combination coefficients, +.>
For a unit vector, x, between the receiver and the ith satellite in the navigation system S r For the receiver position increment vector, c is the speed of light,/->
For the time difference between the receiver and the navigation system S +.>
For carrier phase integer ambiguity between receiver and navigation system S ith satellite, +.>
Z is the wet projection function between the receiver and the ith satellite of the navigation system S r For zenithal troposphere wet delay, < > and->
For the carrier wavelength after combining the observation data between the receiver and the ith satellite of the navigation system S, < + >>
S first for receiver and navigation systemObservation noise of combined pseudo-range between i satellites, < >>
The observation noise of the carrier phase after combination between the receiver and the ith satellite of the navigation system S is respectively obtained.
As described above
f 1 And f 2 The frequency values of the 1 st frequency point and the 2 nd frequency point are respectively.
The single common view satellite carrier phase ionosphere combination equation as described above is:
wherein, the liquid crystal display device comprises a liquid crystal display device,
representing the time difference between the receiver and the ith co-view satellite of the navigation system S.
The calculation of the inter-station contrast time difference for the co-view satellite i as described above is based on the following formula:
wherein, the liquid crystal display device comprises a liquid crystal display device,
for the inter-station contrast time difference of the co-vision satellite i, < ->
Representing the time difference between the receiver 1 and the ith satellite of the navigation system S,/and>
representing the time difference between the receiver 2 and the ith satellite of the navigation system S.
In the step D, a common-view satellite selection method with the smallest combination of the sliding window and the standard deviation is adopted, and the selection of the optimal common-view satellite comprises the following steps:
step D1, calculating the inter-station comparison time difference based on each common-view satellite under the initial sliding time window
Weighting the inter-station comparison time differences of all the common-view satellites by adopting an average weighting method to obtain initial inter-station comparison time differences;
step D2, moving the sliding time window for a set sliding time length, wherein the sliding time window after movement is divided into an original residual time period and a newly-added time period, and the length of the newly-added time period is the sliding time length;
step D3, under the sliding time window after moving, traversing each common-view satellite in the newly added time period,
calculating the inter-station comparison time difference based on each common-view satellite in the newly added time period
The optimal common-view satellite corresponding to the sliding time window before moving is combined with the inter-station comparison time difference of each common-view satellite in the newly added time period in the inter-station comparison time difference of the original residual time period to form a plurality of groups of inter-station comparison time differences, the standard deviation of the inter-station comparison time differences of each group is calculated,
the inter-station comparison time difference of the optimal common-view satellite corresponding to the initial sliding time window in the original residual time period is the initial inter-station comparison time difference;
and D4, selecting the common-view satellite with the newly added time period corresponding to the minimum standard deviation as the optimal common-view satellite, and returning to the step D2.
Compared with the prior art, the invention has the following beneficial effects:
1. the advantages that PPP time transfer precision is not limited by distance and satellite common parallax is eliminated by satellite end errors are effectively combined, and the time transfer method with time transfer precision superior to PPP is realized;
2. the influence of a first-order ionosphere on time transfer precision is eliminated by using a double-frequency ionosphere combination equation of the double-frequency pseudo-range and carrier phase original observation data, and the influence of inter-station distances in the conventional satellite co-view time transfer on the time transfer precision is reduced;
3. by utilizing the satellite common parallax technology, the influence of residual errors after satellite end correction and symmetric errors in atmospheric delay on time transfer precision is eliminated, and the time transfer precision is improved.
4. Real-time or post-time high-precision time comparison can be realized by utilizing a plurality of different types of satellite orbits and clock correction products in real time or post-time.
Drawings
Fig. 1 is a schematic flow chart of the present invention.
Detailed Description
The present invention will be further described in detail below in conjunction with the following examples, for the purpose of facilitating understanding and practicing the present invention by those of ordinary skill in the art, it being understood that the examples described herein are for the purpose of illustration and explanation only and are not intended to limit the invention.
As shown in fig. 1, the carrier phase satellite common view time transfer method based on PPP calculation parameters includes the following steps:
step A, acquiring double-frequency pseudo-range (single system or multiple systems) and carrier phase original observation data by using a receiver, establishing a double-frequency ionosphere combination equation by using a precise satellite orbit and a clock correction distributed by a network or a navigation system, adopting an extended Kalman filtering algorithm, and obtaining a receiver position increment vector x by PPP (point-to-point protocol) calculation r Zenithal troposphere wet delay Z r Time difference between receiver and navigation system S
And carrier phase integer period ambiguity between receiver and navigation system S ith satellite +.>
The unknown parameters are calculated by the following double-frequency ionosphere combination equation:
wherein, the liquid crystal display device comprises a liquid crystal display device,
pseudo-range observations (m) combined for the ionosphere between the receiver and the ith satellite in the navigation system S, and>
for the carrier-phase observations (m) of the ionosphere combination between the receiver and the ith satellite in the navigation system S, S and i are the navigation system and satellite numbers, respectively, r is the receiver number,/-is the carrier-phase observations (m) of the ionosphere combination between the receiver and the ith satellite in the navigation system S>
For the pseudo-range original observation data of the 1 st frequency point between the receiver and the ith satellite in the navigation system S,/L>
For the pseudo-range original observation data of the 2 nd frequency point between the receiver and the ith satellite in the navigation system S,/L>
For the original observation data of the carrier phase of the 1 st frequency point between the receiver and the ith satellite in the navigation system S,/L>
Alpha is the original observation data of carrier phase of the 2 nd frequency point between the receiver and the ith satellite in the navigation system S 1 And alpha 2 Are all ionosphere combination coefficients, wherein +.>
f 1 And f 2 Frequency values of the 1 st frequency point and the 2 nd frequency point, respectively, < ->
For a unit vector, x, between the receiver and the ith satellite in the navigation system S r For the receiver position increment vector, c is the speed of light,/->
For the time difference between the receiver and the navigation system S +.>
For carrier phase integer ambiguity between receiver and navigation system S ith satellite, +.>
Z is the wet projection function between the receiver and the ith satellite of the navigation system S r For zenithal troposphere wet delay, < > and->
For the carrier wavelength after combining the observation data between the receiver and the ith satellite of the navigation system S, < + >>
For the observation noise of the combined pseudo-range between receiver and navigation system S ith satellite, +.>
The observation noise of the carrier phase after combination between the receiver and the ith satellite of the navigation system S is respectively;
the pseudo-range original observation data and the carrier phase original observation data in the dual-frequency ionosphere combination equation in the step A can be the observation data of a Beidou No. three global navigation system, the GPS navigation system observation data, the GLONASS navigation system observation data and the Galileo navigation system time.
The time difference between the receiver and the navigation system S obtained by PPP calculation in step A
According to the time difference between the two receivers and the navigation system +.>
And->
The comparison time difference between the PPP stations between the two receivers can be obtained to realize PPP time transmission, but the comparison time difference between the PPP stations comprises residual errors after correction of precise products, symmetrical delay errors in the atmosphere and the like.
Step B, in order to eliminate the correction residual error of the comparison time difference between PPP stations and the symmetrical delay error in the atmospheric delay, the solution in step A is calculated to obtain other solution parameters (including the position increment vector x of the receiver except the time difference between the receiver and the navigation system S r Zenithal troposphere wet delay Z r Carrier phase integer ambiguity between receiver and navigation system S ith satellite
) Substituting the carrier phase ionosphere combination equation of the single co-view satellite to calculate and obtain the time difference +.about.f between the receiver and the co-view satellite i of the navigation system S>
The carrier phase ionosphere combination equation of the single common view satellite is as follows:
in the above-mentioned method, the step of,
presentation receiver and navigationThe time difference between the ith co-view satellite of the system S;
step C, according to satellite numbers acquired by two receivers, screening all the common-view satellites observed by the two receivers simultaneously in each epoch, and according to the time difference between the receivers and the common-view satellite i
And the inter-station comparison time difference equation, calculating the inter-station comparison time difference of the common-view satellite i>
The inter-station comparison time difference equation is as follows:
in the above-mentioned method, the step of,
representing the time difference between the receiver 1 and the ith satellite of the navigation system S,/and>
representing the time difference between the receiver 2 and the ith satellite of the navigation system S.
And D, selecting an optimal common-view satellite by adopting a common-view satellite selection method with the smallest combination of a sliding window and a standard deviation, calculating the time difference between the selected optimal common-view satellite and two receivers, and calculating the inter-station comparison time difference according to an inter-station comparison time difference equation to realize high-precision time transfer.
In the step D, a common-view satellite selection method with the smallest combination of a sliding window and a standard deviation is adopted, and the selection of the optimal common-view satellite comprises the following steps:
in step D1, in this embodiment, the length of the sliding time window is set to 24 hours, the sliding time length of the sliding time window is 1 hour,
calculating the inter-station comparison time difference of each common-view satellite once per interval sliding time length
Step D1, calculating the inter-station comparison time difference based on each common-view satellite under the initial sliding time window
Weighting the inter-station comparison time differences of all the common-view satellites by adopting an average weighting method to obtain initial inter-station comparison time differences;
step D2, moving the sliding time window for a set sliding time length, wherein the sliding time window after movement is divided into an original residual time period and a newly-added time period, and the length of the newly-added time period is the sliding time length;
step D3, under the sliding time window after moving, traversing each common-view satellite in the newly added time period,
calculating the inter-station comparison time difference based on each common-view satellite in the newly added time period
The optimal common-view satellite corresponding to the sliding time window before moving is combined with the inter-station comparison time difference of each common-view satellite in the newly added time period in the inter-station comparison time difference of the original residual time period to form a plurality of groups of inter-station comparison time differences, the standard deviation of the inter-station comparison time differences of each group is calculated,
the inter-station comparison time difference of the optimal common-view satellite corresponding to the initial sliding time window in the original residual time period is the initial inter-station comparison time difference;
and D4, selecting the common-view satellite with the newly added time period corresponding to the minimum standard deviation as the optimal common-view satellite, and returning to the step D2.
The carrier phase satellite common view time transfer method based on PPP resolving parameters brings the unknown parameters of PPP resolving except the time difference of a receiver back into a common view satellite carrier phase ionosphere combination equation, and effectively combines the advantages of PPP technology and satellite common view technology.
The dual-frequency carrier phase and pseudo-range dual-frequency ionosphere combined equation is adopted in the step A, so that the influence of a first-order ionosphere on time transfer is eliminated, the time transfer precision is higher than that of the conventional satellite common view, and the influence of the transmission distance on the time transfer precision is further reduced;
in the step A, the B2B correction product broadcasted by the Beidou No. three navigation system, or the network broadcasted real-time correction product, or the post final correction product broadcasted by the GNSS data processing center can be utilized to correct errors in satellite orbit and clock error in broadcast ephemeris, and the corrected precise ephemeris is utilized to calculate unknown parameters such as the position of a receiver, zenith troposphere delay, receiver time difference, carrier phase integer period ambiguity and the like, so that real-time or post high-precision time comparison can be realized.
And B, carrying other parameters except the time difference of the receiver calculated by PPP back into a carrier phase ionosphere elimination combination equation of the common-view satellite, estimating the time difference between the receiver and a single common-view satellite after eliminating the first-order ionosphere delay error, and eliminating the influence of the first-order ionosphere delay error on the common-view time transfer precision.
And C, calculating the time difference between the two receivers by utilizing a carrier phase ionosphere combination equation of the common-view satellite to obtain the time difference between the receivers and the common-view satellite, and eliminating the residual satellite end orbit and clock error and the symmetrical delay error in the atmospheric delay by adopting a carrier phase common-view error division technology in PPP (point-to-point protocol) calculation after the reconstruction of a precise product, thereby improving the time transfer precision.
It should be noted that the specific embodiments described in this application are merely illustrative of the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or its scope as defined in the accompanying claims.
Claims (6)
1. The carrier phase satellite common view time transfer method based on PPP resolving parameters is characterized by comprising the following steps:
step A, acquiring original observation data of a double-frequency pseudo range and a carrier phase by using a receiver, establishing a double-frequency ionosphere combination equation by using a precise satellite orbit and a clock correction, and obtaining a receiver position increment vector, zenith troposphere wet delay, time difference between the receiver and a navigation system S and carrier phase integer period ambiguity between the receiver and an ith satellite of the navigation system S by PPP (point-to-point protocol) solution;
step B, substituting the position increment vector of the receiver, the zenith troposphere wet delay and the carrier phase integer period ambiguity between the receiver and the ith satellite of the navigation system S into a single co-view satellite carrier phase ionosphere combination equation, and solving to obtain the time difference between the receiver and the co-view satellite i of the navigation system S;
step C, calculating the inter-station comparison time difference based on the common-view satellite i according to the time difference between the receiver and the common-view satellite i and an inter-station comparison time difference equation;
and D, selecting an optimal common-view satellite by adopting a common-view satellite selection method with the minimum combination of a sliding window and a standard deviation, calculating the time difference between the selected optimal common-view satellite and two receivers, and further calculating the comparison time difference between stations.
2. The carrier-phase satellite common view time transfer method based on PPP resolution parameters according to claim 1, wherein in the step a, the dual-frequency ionosphere combination equation is:
wherein, the liquid crystal display device comprises a liquid crystal display device,
pseudo-range observations combined for the ionosphere between the receiver and the ith satellite in the navigation system S, ->
For carrier phase observations of the ionosphere combination between the receiver and the ith satellite in the navigation system S, S and i are the navigation system and satellite number, respectively, r is the receiver number, +.>
For the pseudo-range original observation data of the 1 st frequency point between the receiver and the ith satellite in the navigation system S,/L>
For the pseudo-range original observation data of the 2 nd frequency point between the receiver and the ith satellite in the navigation system S,/L>
For the original observation data of the carrier phase of the 1 st frequency point between the receiver and the ith satellite in the navigation system S,/L>
Alpha is the original observation data of carrier phase of the 2 nd frequency point between the receiver and the ith satellite in the navigation system S 1 And alpha 2 Are all ionosphere combination coefficients, +.>
For a unit vector, x, between the receiver and the ith satellite in the navigation system S r For the receiver position increment vector, c is the speed of light,/->
For the time difference between the receiver and the navigation system S +.>
For carrier phase integer ambiguity between receiver and navigation system S ith satellite, +.>
Z is the wet projection function between the receiver and the ith satellite of the navigation system S r For zenithal troposphere wet delay, < > and->
For the carrier wavelength after combining the observation data between the receiver and the ith satellite of the navigation system S, < + >>
For the observation noise of the combined pseudo-range between receiver and navigation system S ith satellite, +.>
The observation noise of the carrier phase after combination between the receiver and the ith satellite of the navigation system S is respectively obtained.
3. The carrier-phase satellite common view time transfer method based on PPP resolution parameters of claim 2, wherein the steps of
f 1 And f 2 The frequency values of the 1 st frequency point and the 2 nd frequency point are respectively.
4. The carrier-phase satellite common view time transfer method based on PPP resolution parameters according to claim 2, wherein the single common view satellite carrier-phase ionosphere combination equation is:
wherein, the liquid crystal display device comprises a liquid crystal display device,
representing the time difference between the receiver and the ith co-view satellite of the navigation system S.
5. The carrier-phase satellite common view time transfer method based on PPP resolution parameters according to claim 4, wherein the inter-station contrast time difference of the calculated common view satellite i is based on the following formula:
wherein, the liquid crystal display device comprises a liquid crystal display device,
for the inter-station contrast time difference of the co-vision satellite i, < ->
Representing the time difference between the receiver 1 and the ith satellite of the navigation system S,/and>
representing the time difference between the receiver 2 and the ith satellite of the navigation system S.
6. The carrier-phase satellite common view time transfer method based on PPP resolution parameters of claim 5, wherein the selecting the optimal common view satellite by adopting the common view satellite selection method with the combination of the sliding window and the minimum standard deviation in the step D comprises the following steps:
step D1, calculating the inter-station comparison time difference based on each common-view satellite under the initial sliding time window
Weighting the inter-station comparison time differences of all the common-view satellites by adopting an average weighting method to obtain initial inter-station comparison time differences;
step D2, moving the sliding time window for a set sliding time length, wherein the sliding time window after movement is divided into an original residual time period and a newly-added time period, and the length of the newly-added time period is the sliding time length;
step D3, under the sliding time window after moving, traversing each common-view satellite in the newly added time period,
calculating the inter-station comparison time difference based on each common-view satellite in the newly added time period
The optimal common-view satellite corresponding to the sliding time window before moving is combined with the inter-station comparison time difference of each common-view satellite in the newly added time period in the inter-station comparison time difference of the original residual time period to form a plurality of groups of inter-station comparison time differences, the standard deviation of the inter-station comparison time differences of each group is calculated,
the inter-station comparison time difference of the optimal common-view satellite corresponding to the initial sliding time window in the original residual time period is the initial inter-station comparison time difference;
and D4, selecting the common-view satellite with the newly added time period corresponding to the minimum standard deviation as the optimal common-view satellite, and returning to the step D2.
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