CN101726745B - Method and system for resolving signal in space error - Google Patents
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Abstract
The invention relates to resolving for a signal in space error (SISE). An SISE estimation value for reflecting a synthetic error of the signal in space in real time is acquired by processing data such as track and clock correction and the like in real time and integrating multiple error factors into an SISE final result by adopting the Overbound mathematical principle. The invention also relates to precision analysis of intermediate data and result data in SISE resolving. Besides, the invention also relates to verification for the signal in space error. By applying SISE at different moments to a positioning calculation and comparing the positioning calculation result with a known precise result in a positioning domain, if the positioning accuracy modified by the SISE is obviously higher than the positioning accuracy before being modified, the calculation for SISE parameters is true and valid.
Description
Technical field
The present invention relates to the satellite navigation field, be specifically related to integrity parameter of satellite navigation---the method and system that signal in space error (SISE, Signal in Space Error) resolves.
The present invention can be used for satellite navigation reinforcing system, and this type systematic is monitored the integrity of satellite navigation constellation satellite, is beneficial to the perfect in shape and function of satellite navigation reinforcing system, and the associated user provides value added service for " life security ".
Background technology
Along with developing rapidly of satellite navigation system, also universal day by day such as the application of satellite navigation systems such as GPS, Galileo, GLONASS, the Big Dipper, promoted the upgrading of field airmanships such as aviation, railway, fishery, highway, agricultural.In addition, also obtained the attention of many countries to ground systems such as the WAAS of each navigation constellation, Local Area Augmentation Systems.
Satellite navigation integrity monitoring technology is to be used in the enhanced system, and the health status of constellation satellite is monitored in real time, when the constellation satellite breaks down, can warning message in time be passed to a kind of technological means of specific user.Especially the relevant user like aviation, navigation of life security not only hopes to obtain the accurate localization measurement data but also hopes that the precision and the risk thereof that in time obtain locator data have much.For satisfying these users' demand, the integrity monitoring technology is arisen at the historic moment.
In order to realize the monitoring to the integrity of satellite navigation constellation, ground system need calculate a series of correlation parameters, and wherein SISE is an important parameter of forming a connecting link.This parameter has been arranged; Other parameter that just can further realize satellite navigation integrity monitoring system is (like spacing wave monitoring precision (SISMA; Singal In Space Monitoring Accuracy), integrity sign (IF; Interity Flag), the user protects horizontal index (xPL, LevelProtection Level/Vertical Protection Level, general name xPL) etc.) resolve.
Parameter S ISE resolves, and relates to a series of problems such as track estimation, clock correction estimation, ionospheric error elimination, mathematical model foundation, resolved data checking.Domestic also do not have mechanism that systematic study is carried out in the multianalysis and the modeling of this parameter, do not see that pertinent literature is to the deeply introduction of this do.There is mechanism to resolve similar parameters abroad, but not openly explanation, its used technical method has been implemented privacy policy to China, does not have channel to obtain technology introduction.
To resolving of SISE, solved a basic problem of satellite navigation integrity monitoring technology, China is built satellite navigation reinforcing system be significant.
Summary of the invention
The objective of the invention is to, the method and system that SISE is resolved is provided.
According to an aspect of the present invention, the resolving signal in space error method is provided, has comprised:
Data acquisition step; Obtain and be derived from the master station looking at least one satellite altogether and almanac data, observation data, weather data and the station coordinates data of at least four monitoring stations; Wherein said station coordinates data comprise the coordinate of a said master station and at least four monitoring stations, and for the satellite of arbitrary signal in space error estimated value to be calculated in said at least one the satellite:
The almanac data that is obtained comprises the orbit parameter and the clock correction of said satellite, and the observation data of being obtained comprises each pseudorange observed reading and the phase observations value to said satellite from a said master station and at least four monitoring stations; And
Computation process for the satellite of arbitrary signal in space error estimated value to be calculated in said at least one the satellite, is calculated its signal in space error estimated value, comprising:
The co-ordinates of satellite calculation procedure utilizes the orbit parameter of said satellite to calculate the coordinate of said satellite;
Angle, elevation bearing calculation procedure in a said master station and at least four monitoring stations each, is utilized the coordinate of its coordinate and said satellite, calculates the elevation angle and the position angle of said satellite with respect to it;
Use to correct step, in a said master station and at least four monitoring stations each,
Utilize the almanac data of said satellite, calculate said satellite and relativity error between it,
Utilize the elevation angle and position angle and the said weather data of said satellite, calculate the tropospheric delay the pseudorange observed reading from it to said satellite with respect to it,
Utilize the coordinate of its coordinate and said satellite, calculate the earth rotation error the pseudorange observed reading from it to said satellite,
Said satellite of cancellation and relativity error it and for tropospheric delay and earth rotation error that it calculated the pseudorange observed reading from it to said satellite obtain the pseudorange observed reading from it to said satellite that corrects through using;
The observation data pre-treatment step; For in a said master station and at least four monitoring stations each; Phase observations value from it to said satellite is carried out lane jumps detection and repairs; Utilize through lane jumping detection and the phase observations value from it to said satellite of repairing level and smooth to carry out phase place through the pseudorange observed reading from it to said satellite of application correction; And, obtain through pretreated pseudorange observed reading from it to said satellite to carry out the ionospheric error elimination through the level and smooth pseudorange observed reading of phase place from it to said satellite;
Look the epoch observed reading altogether and select step, from through pretreated pseudorange observed reading, select said satellite signal can by each reception in said at least four monitoring stations look period epoch altogether look pseudorange observed reading epoch altogether;
The coordinate correction step; For in said at least four monitoring stations each; Utilize the phase center of its receiver that its coordinate is carried out the phase center correction; Obtain its coordinate of correcting through phase center, and the phase center that utilizes said satellite carries out phase center to the coordinate of said satellite and corrects, the coordinate of the said satellite that obtains correcting through phase center;
Its computation of pseudoranges step in said at least four monitoring stations each, is utilized its coordinate of correcting through phase center and the coordinate of the said satellite that corrects through phase center, confirms its computation of pseudoranges value from it to said satellite;
Pseudorange residual computations step; For in said at least four monitoring stations each; Utilize its pairing pseudorange observed reading epoch of looking altogether of the relative clock correction correction of receiver between itself and the said master station, with revised its pairing look altogether epoch the pseudorange observed reading with its computation of pseudoranges value from it to said satellite relatively, confirm the pseudorange residual error; Wherein in said at least four monitoring stations each; The relative clock correction of receiver between itself and the said master station is to utilize one with reference to satellite, carries out single poor calculating, and wherein said is in said at least one the satellite with reference to satellite; And
The signal in space error estimating step is added up determined each pseudorange residual error, obtains the signal in space error estimated value of said satellite.
According to a further aspect in the invention, the resolving signal in space error system is provided, has comprised:
Data acquisition facility; Obtain and be derived from the master station looking at least one satellite altogether and almanac data, observation data, weather data and the station coordinates data of at least four monitoring stations; Wherein said station coordinates data comprise the coordinate of a said master station and at least four monitoring stations, and for the satellite of arbitrary signal in space error estimated value to be calculated in said at least one the satellite:
The almanac data that is obtained comprises the orbit parameter and the clock correction of said satellite, and the observation data of being obtained comprises each pseudorange observed reading and the phase observations value to said satellite from a said master station and at least four monitoring stations; And
Computing module for the satellite of arbitrary signal in space error estimated value to be calculated in said at least one the satellite, calculates its signal in space error estimated value, comprising:
The co-ordinates of satellite calculation element utilizes the orbit parameter of said satellite to calculate the coordinate of said satellite;
Angle, elevation bearing calculation element in a said master station and at least four monitoring stations each, utilizes the coordinate of its coordinate and said satellite, calculates the elevation angle and the position angle of said satellite with respect to it;
Use to correct device, in a said master station and at least four monitoring stations each,
Utilize the almanac data of said satellite, calculate said satellite and relativity error between it,
Utilize the elevation angle and position angle and the said weather data of said satellite, calculate the tropospheric delay the pseudorange observed reading from it to said satellite with respect to it,
Utilize the coordinate of its coordinate and said satellite, calculate the earth rotation error the pseudorange observed reading from it to said satellite,
Said satellite of cancellation and relativity error it and for tropospheric delay and earth rotation error that it calculated the pseudorange observed reading from it to said satellite obtain the pseudorange observed reading from it to said satellite that corrects through using;
The observation data pretreatment unit; For in a said master station and at least four monitoring stations each; Phase observations value from it to said satellite is carried out lane jumps detection and repairs; Utilize through lane jumping detection and the phase observations value from it to said satellite of repairing level and smooth to carry out phase place through the pseudorange observed reading from it to said satellite of application correction; And, obtain through pretreated pseudorange observed reading from it to said satellite to carry out the ionospheric error elimination through the level and smooth pseudorange observed reading of phase place from it to said satellite;
Look observed reading selecting arrangement epoch altogether, from through pretreated pseudorange observed reading, select said satellite signal can by each reception in said at least four monitoring stations look period epoch altogether look pseudorange observed reading epoch altogether;
The coordinate correction device; For in said at least four monitoring stations each; Utilize the phase center of its receiver that its coordinate is carried out the phase center correction; Obtain its coordinate of correcting through phase center, and the phase center that utilizes said satellite carries out phase center to the coordinate of said satellite and corrects, the coordinate of the said satellite that obtains correcting through phase center;
Its computation of pseudoranges device in said at least four monitoring stations each, utilizes its coordinate of correcting through phase center and the coordinate of the said satellite that corrects through phase center, confirms its computation of pseudoranges value from it to said satellite;
Pseudorange residual computations device; For in said at least four monitoring stations each; Utilize its pairing pseudorange observed reading epoch of looking altogether of the relative clock correction correction of receiver between itself and the said master station, with revised its pairing look altogether epoch the pseudorange observed reading with its computation of pseudoranges value from it to said satellite relatively, confirm the pseudorange residual error; Wherein in said at least four monitoring stations each; The relative clock correction of receiver between itself and the said master station is to utilize one with reference to satellite, carries out single poor calculating, and wherein said is in said at least one the satellite with reference to satellite; And
The signal in space error estimation unit is added up determined each pseudorange residual error, obtains the signal in space error estimated value of said satellite.
The composition error that can reflect spacing wave through the signal in space error estimated value of aforesaid method and system calculating of the present invention in real time.In addition, such signal in space error estimated value is used for precision positioning, can be significantly improved so that bearing accuracy is compared with the location of not using this signal in space error estimated value.
Description of drawings
To illustrate and describe exemplary of the present invention now, this embodiment is merely exemplary, and is not intended to by any way and limits the invention, wherein:
Fig. 1 the has been diagram process flow diagram of the process of one preferred embodiment computer memory signal errors estimated value according to the present invention;
Fig. 2 is diagram utilizes the synoptic diagram of the process that the relevant centre that calculates according to the present invention and result data analyze; With
Fig. 3 has been diagram utilizes the signal in space error estimated value of calculating according to the present invention to position the synoptic diagram of the process of checking.
Embodiment
In the detailed description hereinafter, will be with reference to the accompanying drawing that forms this instructions part.In the accompanying drawings, identical Reference numeral is represented identical key element.Described in the instructions and accompanying drawing in institute's graphic schematic embodiment and be not intended to restriction the present invention.Do not departing under the situation of the purport of this theme that represents and scope, said embodiment can be carried out various variations.Understandablely be; Under the prerequisite that does not depart from essence of the present invention; Illustrated each side of the present invention can be arranged, replace, make up, break and delete in wide in range configuration variation in the described herein and accompanying drawing, and all these all within the scope of the invention.
The present invention relates to resolving to signal in space error (SISE).The present invention handles data such as track, clock correction in real time, adopts the Overbound mathematical principle multiple error component to be integrated on the net result of SISE, makes SISE reflect the composition error of spacing wave in real time.
Fig. 1 diagram according to the present invention the process of one preferred embodiment computer memory signal errors estimated value.This process comprises data acquisition step 101 and the process 100 of calculating satellite spatial signal errors estimated value, and the process of wherein calculating satellite spatial signal errors estimated value can comprise co-ordinates of satellite calculation procedure 102, angle, elevation bearing calculation procedure 103, coordinate correction step 104, use and correct the synchronous clock correction calculation procedure of the relative clock correction calculation procedure of step 108, observation data pre-treatment step 109, receiver 110, optional receiver 111, look the epoch observed reading altogether and select step 112, its computation of pseudoranges step 113, pseudorange residual computations step 114 and signal in space error estimating step 115.In this preferred embodiment, use correction step 108 and comprise that step 106 is corrected in relativistic correction step 105, troposphere and earth rotation corrects step 107.
In this embodiment; In data acquisition step 100; Obtain and be derived from the master station looking at least one satellite altogether and almanac data, observation data, weather data and the station coordinates data of at least four monitoring stations, wherein said station coordinates data comprise the coordinate of a said master station and at least four monitoring stations.Understandable, one or multi-satellite signal in space error estimated value to be calculated can be arranged in said at least one the satellite.Satellite for arbitrary signal in space error estimated value to be calculated in said at least one the satellite; The almanac data that is obtained can comprise the orbit parameter and the clock correction of said satellite, and the observation data of being obtained can comprise each pseudorange observed reading and the phase observations value to said satellite from a said master station and at least four monitoring stations; These data can belong to corresponding service organization of system from satellite and obtain; For example for IGS (International GPS service; Be international GPS service organization) satellite in the satellite navigation system, its data for example almanac data and observation data can be obtained from the website of IGS.In one embodiment, said weather data can comprise air pressure, temperature and humidity data.
In this embodiment, for the satellite of arbitrary signal in space error estimated value to be calculated in said at least one the satellite---this satellite is called satellite S1 hereinafter, the process of calculating its signal in space error estimated value can be described below.
In co-ordinates of satellite calculation procedure 102, utilize the orbit parameter of satellite S1 to calculate its coordinate.The coordinate that is calculated can be the rectangular space coordinate of said satellite under body-fixed coordinate system.
Use to correct step 108, in a said master station and at least four monitoring stations each: utilize the almanac data of satellite S1, calculating satellite S1 and relativity error between it (relativistic correction step 105); Utilize the elevation angle and position angle and the said weather data of satellite S1, calculate the tropospheric delay (step 106 is corrected in the troposphere) the pseudorange observed reading from it to satellite S1 with respect to it; Utilize the coordinate of its coordinate and satellite S1, calculate the earth rotation error (earth rotation corrects step 107) the pseudorange observed reading from it to satellite S1; And cancellation satellite S1 and relativity error it and for tropospheric delay and earth rotation error that it calculated the pseudorange observed reading from it to satellite S1 obtain the pseudorange observed reading from it to satellite S1 that corrects through using.Troposphere shown in Fig. 1 is corrected step 106 and can be used the Hopfield model to realize that concrete implementation procedure is well known by persons skilled in the art.
In observation data pre-treatment step 109; For in a said master station and at least four monitoring stations each: the phase observations value from it to satellite S1 is carried out lane jump and detect and repair; Utilize through lane jumping detection and the phase observations value from it to satellite S1 of repairing level and smooth to carry out phase place through the pseudorange observed reading from it to satellite S1 of application correction; And, obtain through pretreated pseudorange observed reading from it to satellite S1 to carry out the ionospheric error elimination through the level and smooth pseudorange observed reading of phase place from it to satellite S1.Observation data pre-treatment step 109 can comprise the examination of the abnormal data in the observation data and deletion.The lane of in observation data pre-treatment step 109, being mentioned is jumped, and mainly is owing to the losing lock of receiver to satellite-signal causes.In practical application; Satellite-signal may be because of being blocked or receive the temporary transient interruption of radio signal interference by barrier; Thereby cause the losing lock of receiver to satellite-signal, make that the complete cycle counting in the phase observations value is undergone mutation, this phenomenon is called as lane and jumps.Because carrier phase observation data is the INSTANTANEOUS OBSERVATION value, the fraction part total energy in one week of less than keeps correct, therefore only needs to revise the complete cycle counting.This step can be used and well known to a person skilled in the art that Hatch Filtering Model, week jumping detection repairing model wait and realize.
Select step 112 looking the epoch observed reading altogether, from through pretreated pseudorange observed reading, select satellite S1 signal can by each reception in said at least four monitoring stations look period epoch altogether look pseudorange observed reading epoch altogether.
In coordinate correction step 104; For in said at least four monitoring stations each; Utilize the phase center of its receiver that its coordinate is carried out the phase center correction; Obtain its coordinate of correcting through phase center, and the phase center that utilizes satellite S1 carries out phase center to the coordinate of satellite S1 and corrects, the coordinate of the satellite S1 that obtains correcting through phase center.
In its computation of pseudoranges step 113, in said at least four monitoring stations each, utilize its coordinate of correcting through phase center and the coordinate of the satellite S1 that corrects through phase center, confirm its computation of pseudoranges value from it to satellite S1.
In pseudorange residual computations step 114; For in said at least four monitoring stations each; Utilize its pairing pseudorange observed reading epoch of looking altogether of the relative clock correction correction of receiver between itself and the said master station; With revised its pairing look altogether epoch the pseudorange observed reading with its computation of pseudoranges value from it to satellite S1 relatively, confirm the pseudorange residual error.Wherein, in said at least four monitoring stations each, the relative clock correction of receiver capable of using one between itself and the said master station is carried out single poor calculating with reference to satellite, and said therein is in said at least one the satellite with reference to satellite; This calculating can realize that in the relative clock correction calculation procedure 110 of the receiver shown in Fig. 1 under the prerequisite of the above instruction that the present invention provides, the calculating of the relative clock correction of above-mentioned receiver is well known by persons skilled in the art.In addition, though in Fig. 1, the relative clock correction calculation procedure 110 of receiver is shown in after the step 109, and just schematically, in fact the calculating of the relative clock correction of receiver can be carried out as required in due course for this.
In signal in space error estimating step 115, determined each pseudorange residual error is added up, obtain the signal in space error estimated value of satellite S1.In signal in space error estimating step 115, the pseudorange residual error is added up, obtain the signal in space error estimated value.In this embodiment, used statistical model is: the standard deviation of the pseudorange residual error of the fractile * monitoring station of the degree of confidence of the average of the pseudorange residual error of signal in space error estimated value=monitoring station+pseudorange residual error.One of ordinary skill in the art will readily recognize that said degree of confidence generally is 99.9% here.When degree of confidence was 99.9%, fractile was 3.29.When given other degree of confidence, those skilled in the art also can for example confirm fractile through the method for tabling look-up according to known method.
For each step in the process of aforementioned calculation satellite spatial signal errors estimated value, those skilled in the art are under the situation of learning the instruction that this paper provides, and available this area method commonly used realizes.
For the relative clock correction calculation procedure 110 of the receiver shown in Fig. 1, provide a preferred embodiment below.In this preferred embodiment; For in said at least four monitoring stations each: utilize one with reference to satellite received jointly by itself and said master station orbit parameter in period of signal, said through pretreated from its to said with reference to satellite the pseudorange observed reading and said through pretreated from said master station to said pseudorange observed reading with reference to satellite; Carry out the poor calculating of list, to confirm the relative clock correction of receiver between itself and the said master station.Here, preferably said with reference to satellite Sr1 for example, be arbitrary in the satellite of the signal in space error estimated value to be calculated in said at least one the satellite.Also promptly, this can be satellite S1 with reference to satellite, also can be the satellite of other signal in space error estimated value to be calculated.More preferably, this is satellite S1 with reference to satellite.Understandable, this can also be arbitrary in said at least one the satellite with reference to satellite, and needs not to be the satellite of signal in space error estimated value to be calculated; In this case; Can data acquisition step obtain this with reference to the orbit parameter of satellite and clock correction, from a said master station and at least four monitoring stations each to this pseudorange observed reading and phase observations value with reference to satellite; In addition can be with reference to top to the described that kind of satellite S1, obtain through pretreated respectively from said at least four monitoring stations and a master station to said pseudorange observed reading with reference to satellite.
Be noted that the synchronous clock correction calculation procedure 111 of the receiver shown in Fig. 1 is optional.Particularly; When said at least one satellite when being a plurality of; In the relative clock correction calculation procedure 110 of said receiver; For in said at least four monitoring stations each, can utilize a plurality of respectively with reference to satellite---for example satellite Sr2, Sr3 and Sr4---calculate the relative clock correction of receiver between itself and the said master station; Understandablely be so,, will obtain the relative clock correction of a plurality of receivers, and the quantity of the relative clock correction of these a plurality of receivers to be identical with said a plurality of quantity with reference to satellite in said at least four monitoring stations each.In addition, for said a plurality of with reference to satellite for example satellite Sr2, Sr3 and Sr4, situation is with identical with reference to satellite Sr1, as described in the relative clock correction calculation procedure 110 of receiver.In addition; For in said at least four monitoring stations each; Utilize said a plurality of with reference to satellite arbitrary with reference to satellite for example the relative clock correction of receiver calculated between itself and the said master station of satellite Sr comprise: utilize satellite Sr received jointly by itself and said master station orbit parameter in period of signal, through pretreated from it to satellite Sr the pseudorange observed reading and through pretreated pseudorange observed reading from said master station to satellite Sr; Carry out the poor calculating of list, to confirm the relative clock correction of receiver between itself and the said master station.In this case, for example for satellite S1, the process of aforementioned calculation satellite spatial signal errors estimated value also can comprise the synchronous clock correction calculation procedure 111 of receiver.In step 111,,, obtain the synchronous clock correction of receiver between itself and the said master station to making even all to the relative clock correction of each receiver that it calculated in the relative clock correction calculation procedure 110 of receiver in said at least four monitoring stations each.Process in aforementioned calculation satellite spatial signal errors estimated value comprises under the situation of the synchronous clock correction calculation procedure of receiver; In above-mentioned pseudorange residual computations step 114; For in said at least four monitoring stations each; Can utilize the synchronous clock correction of its pairing said receiver to replace the relative clock correction of receiver to revise its pairing pseudorange observed reading epoch of looking altogether; With revised its pairing look altogether epoch the pseudorange observed reading with its computation of pseudoranges value from it to satellite S1 relatively, confirm the pseudorange residual error.
Fig. 2 diagram utilize the synoptic diagram of the process that the relevant centre calculate according to the present invention and result data analyze.This process is represented as analytic process 200 in Fig. 2.For example, for the satellite of arbitrary signal in space error estimated value to be calculated in above-mentioned at least one satellite satellite S for example, can be described below and calculate its absolute clock correction precision.With one in said at least four monitoring stations as the analytical test station; Utilization draws the absolute clock correction calculated value (the absolute clock correction calculation procedure 201 of satellite) of satellite S from this analytical test station to satellite S through pretreated pseudorange observed reading; Compare the absolute clock correction calculated value of satellite S and the accurate clock correction of satellite S then, obtain the absolute clock correction precision (the absolute clock correction comparison step 202 of satellite) of satellite S.The absolute clock correction of satellite is calculated and can be used non-differential mode type to realize that such implementation is being known in the art, and repeats no more at this.
In this article, for arbitrary satellite, when mentioning its " accurate clock correction " or " precision coordinate ", refer to the data of announcing by this corresponding data analysis center of satellite place system.Intelligible like those skilled in the art; The data of this announcement are the results that the real-time broadcast data of satellite that the monitoring station to visual above-mentioned satellite receives is done aftertreatment; Its precision is higher than said real-time broadcast data, but is generally for example just provided by data analysis center after two weeks in this real-time broadcast data a period of time of acquisition.At present, for example, for the satellite in the IGS satellite navigation system, its " accurate clock correction " and " precision coordinate " can be provided by several data analysis centers of international GPS service organization (IGS).For another example, for the satellite in the Glonass satellite navigation system, its " accurate clock correction " and " precision coordinate " can be provided by Russian space office information analysis center.
Comprise under the situation of four above satellites at above-mentioned at least one satellite; Can calculate the wherein signal in space error estimated value of at least four satellites through the process of aforementioned calculation satellite spatial signal errors estimated value; Utilize an analytical test station that is selected from said at least four monitoring stations then, analyze the validity that this signal in space error estimated value is calculated.Corresponding analytic process is represented as testing station positioning calculation/precision analysis step 203 in Fig. 2, it can comprise: correct prelocalization and resolve step, correct back positioning calculation step and positioning analysis step.Wherein, resolve in the step correcting prelocalization, utilize from said analytical test station branch to be clipped to positioning of said at least four satellites and resolve, calculate the coordinate at said analytical test station through pretreated pseudorange observed reading.After correction in the positioning calculation step; Utilize respectively the signal in space error estimated value of said at least four satellites correct from said analytical test station to said at least four satellites corresponding satellite said through pretreated pseudorange observed reading; And the branch from said analytical test station after utilize correcting is clipped to positioning once more through pretreated pseudorange observed reading of said at least four satellites and resolves, and calculates the coordinate at said analytical test station.And in the positioning analysis step; With the coordinate at the said analytical test station of twice calculating respectively with said station coordinates data in the coordinate at the said analytical test station that comprised make comparisons and obtain positioning error, and the positioning error that relatively obtains for twice compared obtain the testing station bearing accuracy.
It will be understood by those skilled in the art that utilizing four satellites to position the coordinate at a station resolves.In like manner, the coordinate at a station of calculating needs the information of at least four satellites.It will be understood by those skilled in the art that the information that also can adopt more than four stations or satellite positions calculating.Here said clock correction, if do not have to specify, then its indication is and poor between the reference time, for example satellite clock correction refers to is exactly poor between time and reference time of clock of this satellite.In the gps satellite navigational system, be GPST (Global Positioning System Time) during with gps system reference time.
In addition, for arbitrary in said at least one satellite satellite that has calculated signal in space error estimated value satellite S for example, can calculate its signal in space error precision.At first with one in said at least four monitoring stations as the analytical test station.In the case; The process of the signal in space error precision of calculated example such as satellite S; In Fig. 2, be represented as the SISE reference value and calculate comparison step 204; It can comprise: satellite clock mistake difference calculation procedure, the absolute clock correction calculated value of satellite S and the accurate clock correction of satellite S are compared, and obtain the clock correction error of satellite S; Satellite position Error Calculation step is compared the coordinate of the satellite S that is calculated with the precision coordinate of satellite S, obtain the site error of satellite S; And; The signal in space error comparison step; Utilize the site error of satellite S and the clock correction error of satellite S; Calculate the signal in space error reference value of satellite S, and signal in space error estimated value that obtain, satellite S in the process of the said signal in space error reference value of satellite S and aforementioned calculation satellite spatial signal errors estimated value is compared, obtain the signal in space error precision of satellite S.
Fig. 3 has been diagram utilizes the signal in space error estimated value of calculating according to the present invention to position the synoptic diagram of the process of checking.In Fig. 3, this process is represented as proof procedure 300.In addition; Comprise under the situation of four above satellites at above-mentioned at least one satellite; Can calculate the wherein signal in space error estimated value of at least four satellites through the process of aforementioned calculation satellite spatial signal errors estimated value; Utilize a validation test station that is selected from said at least four monitoring stations then, the validity that clarifying space signal errors estimated value is calculated.Corresponding proof procedure is represented as location verification step 301 in Fig. 3, it can comprise: correct prelocalization and resolve step, correct back positioning calculation step and verification step.Resolve in the step correcting prelocalization, utilize from said validation test station branch to be clipped to positioning of said at least four satellites and resolve, calculate the coordinate at said validation test station through pretreated pseudorange observed reading.After correction in the positioning calculation step; Utilize respectively the said signal in space error estimated value of said at least four satellites correct from said validation test station to said at least four satellites respective satellite said through pretreated pseudorange observed reading; And the branch from said validation test station after utilize correcting is clipped to positioning once more through pretreated pseudorange observed reading of said at least four satellites and resolves, and calculates the coordinate at said validation test station.And, the coordinate at the said validation test station of twice calculating is compared with the coordinate at the said validation test station that comprised in the said station coordinates data respectively at verification step.If the error of the coordinate that the positioning calculation step is calculated after correction with compare and obviously reduce correcting error that prelocalization resolves the coordinate that step calculates, promptly provable SISE resolve authentic and valid.
Though combined preferred embodiment to describe the present invention, and do not meant that scope of the present invention only limits to the preferred embodiment of being set forth, to those skilled in the art, obviously can modify and change and do not break away from its scope and spirit to the present invention.Explanation here and embodiment are merely for example, and true scope of the present invention will be represented by following claims with spirit.
Claims (12)
1. resolving signal in space error method comprises:
Data acquisition step; Obtain and be derived from the master station looking at least one satellite altogether and almanac data, observation data, weather data and the station coordinates data of at least four monitoring stations; Wherein said station coordinates data comprise the coordinate of a said master station and at least four monitoring stations, and for the satellite of arbitrary signal in space error estimated value to be calculated in said at least one the satellite:
The almanac data that is obtained comprises the orbit parameter and the clock correction of said satellite, and the observation data of being obtained comprises each pseudorange observed reading and the phase observations value to said satellite from a said master station and at least four monitoring stations; And
Computation process for the satellite of arbitrary signal in space error estimated value to be calculated in said at least one the satellite, is calculated its signal in space error estimated value, comprising:
The co-ordinates of satellite calculation procedure utilizes the orbit parameter of said satellite to calculate the coordinate of said satellite;
Angle, elevation bearing calculation procedure in a said master station and at least four monitoring stations each, is utilized the coordinate of its coordinate and said satellite, calculates the elevation angle and the position angle of said satellite with respect to it;
Use to correct step, in a said master station and at least four monitoring stations each,
Utilize the almanac data of said satellite, calculate said satellite and relativity error between it,
Utilize the elevation angle and position angle and the said weather data of said satellite, calculate the tropospheric delay the pseudorange observed reading from it to said satellite with respect to it,
Utilize the coordinate of its coordinate and said satellite, calculate the earth rotation error the pseudorange observed reading from it to said satellite,
Said satellite of cancellation and relativity error it and for tropospheric delay and earth rotation error that it calculated the pseudorange observed reading from it to said satellite obtain the pseudorange observed reading from it to said satellite that corrects through using;
The observation data pre-treatment step; For in a said master station and at least four monitoring stations each; Phase observations value from it to said satellite is carried out lane jumps detection and repairs; Utilize through lane jumping detection and the phase observations value from it to said satellite of repairing level and smooth to carry out phase place through the pseudorange observed reading from it to said satellite of application correction; And, obtain through pretreated pseudorange observed reading from it to said satellite to carry out the ionospheric error elimination through the level and smooth pseudorange observed reading of phase place from it to said satellite;
Look the epoch observed reading altogether and select step, from through pretreated pseudorange observed reading, select said satellite signal can by each reception in said at least four monitoring stations look period epoch altogether look pseudorange observed reading epoch altogether;
The coordinate correction step; For in said at least four monitoring stations each; Utilize the phase center of its receiver that its coordinate is carried out the phase center correction; Obtain its coordinate of correcting through phase center, and the phase center that utilizes said satellite carries out phase center to the coordinate of said satellite and corrects, the coordinate of the said satellite that obtains correcting through phase center;
Its computation of pseudoranges step in said at least four monitoring stations each, is utilized its coordinate of correcting through phase center and the coordinate of the said satellite that corrects through phase center, confirms its computation of pseudoranges value from it to said satellite;
Pseudorange residual computations step; For in said at least four monitoring stations each; Utilize its pairing pseudorange observed reading epoch of looking altogether of the relative clock correction correction of receiver between itself and the said master station, with revised its pairing look altogether epoch the pseudorange observed reading with its computation of pseudoranges value from it to said satellite relatively, confirm the pseudorange residual error; Wherein in said at least four monitoring stations each; The relative clock correction of receiver between itself and the said master station is to utilize one with reference to satellite, carries out single poor calculating, and wherein said is in said at least one the satellite with reference to satellite; And
The signal in space error estimating step is added up determined each pseudorange residual error, obtains the signal in space error estimated value of said satellite.
2. resolving signal in space error method as claimed in claim 1; Wherein said at least one satellite is a plurality of; Said pseudorange residual computations step is used for; For in said at least four monitoring stations each; Utilize its pairing pseudorange observed reading epoch of looking altogether of the synchronous clock correction correction of receiver between itself and the said master station; With revised its pairing look altogether epoch the pseudorange observed reading with its computation of pseudoranges value from it to said satellite relatively, confirm the pseudorange residual error, wherein in said at least four monitoring stations each; The synchronous clock correction of receiver between itself and the said master station is a plurality ofly to carry out single poor calculating with reference to satellite and obtain the relative clock correction of receiver between itself and the said master station and will make even to the relative clock correction of each receiver that it calculated all obtaining through utilizing respectively to it, wherein saidly a plurality ofly is selected from said at least one satellite with reference to satellite.
3. resolving signal in space error method according to claim 1, one in wherein said at least four monitoring stations as the analytical test station, and said calculation method also comprises:
Absolute clock correction accuracy computation step for the satellite of arbitrary signal in space error estimated value to be calculated in said at least one the satellite, is calculated its absolute clock correction precision, comprising:
The absolute clock correction calculation procedure of satellite is utilized to draw the absolute clock correction calculated value of said satellite from said analytical test station to said satellite through pretreated pseudorange observed reading; And
The absolute clock correction comparison step of satellite, the absolute clock correction calculated value of more said satellite and the accurate clock correction of said satellite obtain the absolute clock correction precision of said satellite.
4. resolving signal in space error method according to claim 1; Wherein said at least one satellite comprises four above satellites; Utilize said computation process to calculate the signal in space error estimated value of at least four satellites in said at least one the satellite; One in said at least four monitoring stations is used as the analytical test station, and said calculation method also comprises:
Correct prelocalization and resolve step, utilize from said analytical test station branch to be clipped to positioning of said at least four satellites and resolve, calculate the coordinate at said analytical test station through pretreated pseudorange observed reading;
Correct back positioning calculation step; Utilize respectively the signal in space error estimated value of said at least four satellites correct from said analytical test station to said at least four satellites corresponding satellite said through pretreated pseudorange observed reading; And the branch from said analytical test station after utilize correcting is clipped to positioning once more through pretreated pseudorange observed reading of said at least four satellites and resolves, and calculates the coordinate at said analytical test station; And,
The positioning analysis step; With the coordinate at the said analytical test station of twice calculating respectively with said station coordinates data in the coordinate at the said analytical test station that comprised make comparisons and obtain positioning error, and the positioning error that relatively obtains for twice compared obtain an analytical test precision of standing firm.
5. resolving signal in space error method according to claim 1, one in wherein said at least four monitoring stations as the analytical test station, and said calculation method also comprises:
Signal in space error accuracy computation step for arbitrary in said at least one satellite satellite that calculates the signal in space error estimated value, is calculated its signal in space error precision, comprising:
The absolute clock correction calculation procedure of satellite is utilized to draw the absolute clock correction calculated value of said satellite from said analytical test station to said satellite through pretreated pseudorange observed reading;
Satellite clock mistake difference calculation procedure is compared the absolute clock correction calculated value of said satellite and the accurate clock correction of said satellite, obtains the clock correction error of said satellite;
Satellite position Error Calculation step is compared the coordinate of the said satellite that is calculated with the precision coordinate of said satellite, obtain the site error of said satellite; And
The signal in space error comparison step; Utilize the site error of said satellite and the clock correction error of said satellite; Calculate the signal in space error reference value of said satellite; And the said signal in space error reference value of said satellite compared with the said signal in space error estimated value of said satellite, obtain the signal in space error precision of said satellite.
6. resolving signal in space error method according to claim 1; Wherein said at least one satellite comprises four above satellites; Utilize said computation process to calculate the signal in space error estimated value of at least four satellites in said at least one the satellite; One in said at least four monitoring stations is used as the validation test station, and said calculation method also comprises:
Correct prelocalization and resolve step, utilize from said validation test station branch to be clipped to positioning of said at least four satellites and resolve, calculate the coordinate at said validation test station through pretreated pseudorange observed reading;
Correct back positioning calculation step; Utilize respectively the said signal in space error estimated value of said at least four satellites correct from said validation test station to said at least four satellites respective satellite said through pretreated pseudorange observed reading; And the branch from said validation test station after utilize correcting is clipped to positioning once more through pretreated pseudorange observed reading of said at least four satellites and resolves, and calculates the coordinate at said validation test station; And
Verification step is compared the coordinate at the said validation test station of twice calculating respectively with the coordinate at the said validation test station that comprised in the said station coordinates data.
7. resolving signal in space error system comprises:
Data acquisition facility; Obtain and be derived from the master station looking at least one satellite altogether and almanac data, observation data, weather data and the station coordinates data of at least four monitoring stations; Wherein said station coordinates data comprise the coordinate of a said master station and at least four monitoring stations, and for the satellite of arbitrary signal in space error estimated value to be calculated in said at least one the satellite:
The almanac data that is obtained comprises the orbit parameter and the clock correction of said satellite, and the observation data of being obtained comprises each pseudorange observed reading and the phase observations value to said satellite from a said master station and at least four monitoring stations; And
Computing module for the satellite of arbitrary signal in space error estimated value to be calculated in said at least one the satellite, calculates its signal in space error estimated value, comprising:
The co-ordinates of satellite calculation element utilizes the orbit parameter of said satellite to calculate the coordinate of said satellite;
Angle, elevation bearing calculation element in a said master station and at least four monitoring stations each, utilizes the coordinate of its coordinate and said satellite, calculates the elevation angle and the position angle of said satellite with respect to it;
Use to correct device, in a said master station and at least four monitoring stations each,
Utilize the almanac data of said satellite, calculate said satellite and relativity error between it,
Utilize the elevation angle and position angle and the said weather data of said satellite, calculate the tropospheric delay the pseudorange observed reading from it to said satellite with respect to it,
Utilize the coordinate of its coordinate and said satellite, calculate the earth rotation error the pseudorange observed reading from it to said satellite,
Said satellite of cancellation and relativity error it and for tropospheric delay and earth rotation error that it calculated the pseudorange observed reading from it to said satellite obtain the pseudorange observed reading from it to said satellite that corrects through using;
The observation data pretreatment unit; For in a said master station and at least four monitoring stations each; Phase observations value from it to said satellite is carried out lane jumps detection and repairs; Utilize through lane jumping detection and the phase observations value from it to said satellite of repairing level and smooth to carry out phase place through the pseudorange observed reading from it to said satellite of application correction; And, obtain through pretreated pseudorange observed reading from it to said satellite to carry out the ionospheric error elimination through the level and smooth pseudorange observed reading of phase place from it to said satellite;
Look observed reading selecting arrangement epoch altogether, from through pretreated pseudorange observed reading, select said satellite signal can by each reception in said at least four monitoring stations look period epoch altogether look pseudorange observed reading epoch altogether;
The coordinate correction device; For in said at least four monitoring stations each; Utilize the phase center of its receiver that its coordinate is carried out the phase center correction; Obtain its coordinate of correcting through phase center, and the phase center that utilizes said satellite carries out phase center to the coordinate of said satellite and corrects, the coordinate of the said satellite that obtains correcting through phase center;
Its computation of pseudoranges device in said at least four monitoring stations each, utilizes its coordinate of correcting through phase center and the coordinate of the said satellite that corrects through phase center, confirms its computation of pseudoranges value from it to said satellite;
Pseudorange residual computations device; For in said at least four monitoring stations each; Utilize its pairing pseudorange observed reading epoch of looking altogether of the relative clock correction correction of receiver between itself and the said master station, with revised its pairing look altogether epoch the pseudorange observed reading with its computation of pseudoranges value from it to said satellite relatively, confirm the pseudorange residual error; Wherein in said at least four monitoring stations each; The relative clock correction of receiver between itself and the said master station is to utilize one with reference to satellite, carries out single poor calculating, and wherein said is in said at least one the satellite with reference to satellite; And
The signal in space error estimation unit is added up determined each pseudorange residual error, obtains the signal in space error estimated value of said satellite.
8. resolving signal in space error as claimed in claim 7 system; Wherein said at least one satellite is a plurality of; Said pseudorange residual computations device is used for; For in said at least four monitoring stations each; Utilize its pairing pseudorange observed reading epoch of looking altogether of the synchronous clock correction correction of receiver between itself and the said master station; With revised its pairing look altogether epoch the pseudorange observed reading with its computation of pseudoranges value from it to said satellite relatively, confirm the pseudorange residual error, wherein in said at least four monitoring stations each; The synchronous clock correction of receiver between itself and the said master station is a plurality ofly to carry out single poor calculating with reference to satellite and obtain the relative clock correction of receiver between itself and the said master station and will make even to the relative clock correction of each receiver that it calculated all obtaining through utilizing respectively to it, wherein saidly a plurality ofly is selected from said at least one satellite with reference to satellite.
9. resolving signal in space error according to claim 7 system, one in wherein said at least four monitoring stations as the analytical test station, and the said system of resolving also comprises:
Absolute clock correction accuracy computation module for the satellite of arbitrary signal in space error estimated value to be calculated in said at least one the satellite, is calculated its absolute clock correction precision, comprising:
The absolute clock correction calculation element of satellite utilizes to draw the absolute clock correction calculated value of said satellite from said analytical test station to said satellite through pretreated pseudorange observed reading; And
The absolute clock correction comparison means of satellite, the absolute clock correction calculated value of more said satellite and the accurate clock correction of said satellite obtain the absolute clock correction precision of said satellite.
10. resolving signal in space error according to claim 7 system; Wherein said at least one satellite comprises four above satellites; Utilize said computing module to calculate the signal in space error estimated value of at least four satellites in said at least one the satellite; One in said at least four monitoring stations is used as the analytical test station, and the said system of resolving also comprises:
Correct the prelocalization resolver, utilize from said analytical test station branch to be clipped to positioning of said at least four satellites and resolve, calculate the coordinate at said analytical test station through pretreated pseudorange observed reading;
Correct back positioning calculation device; Utilize respectively the signal in space error estimated value of said at least four satellites correct from said analytical test station to said at least four satellites corresponding satellite said through pretreated pseudorange observed reading; And the branch from said analytical test station after utilize correcting is clipped to positioning once more through pretreated pseudorange observed reading of said at least four satellites and resolves, and calculates the coordinate at said analytical test station; And,
The positioning analysis device; With the coordinate at the said analytical test station of twice calculating respectively with said station coordinates data in the coordinate at the said analytical test station that comprised make comparisons and obtain positioning error, and the positioning error that relatively obtains for twice compared obtain an analytical test precision of standing firm.
11. resolving signal in space error according to claim 7 system, one in wherein said at least four monitoring stations as the analytical test station, and the said system of resolving also comprises:
Signal in space error accuracy computation module for arbitrary in said at least one satellite satellite that calculates the signal in space error estimated value, is calculated its signal in space error precision, comprising:
The absolute clock correction calculation element of satellite utilizes to draw the absolute clock correction calculated value of said satellite from said analytical test station to said satellite through pretreated pseudorange observed reading;
Satellite clock mistake difference calculation element is compared the absolute clock correction calculated value of said satellite and the accurate clock correction of said satellite, obtains the clock correction error of said satellite;
The satellite position error calculating device is compared the coordinate of the said satellite that is calculated with the precision coordinate of said satellite, obtain the site error of said satellite; And
The signal in space error comparison means; Utilize the site error of said satellite and the clock correction error of said satellite; Calculate the signal in space error reference value of said satellite; And the said signal in space error reference value of said satellite compared with the said signal in space error estimated value of said satellite, obtain the signal in space error precision of said satellite.
12. resolving signal in space error according to claim 7 system; Wherein said at least one satellite comprises four above satellites; Utilize said computing module to calculate the signal in space error estimated value of at least four satellites in said at least one the satellite; One in said at least four monitoring stations is used as the validation test station, and the said system of resolving also comprises:
Correct the prelocalization resolver, utilize from said validation test station branch to be clipped to positioning of said at least four satellites and resolve, calculate the coordinate at said validation test station through pretreated pseudorange observed reading;
Correct back positioning calculation device; Utilize respectively the said signal in space error estimated value of said at least four satellites correct from said validation test station to said at least four satellites respective satellite said through pretreated pseudorange observed reading; And the branch from said validation test station after utilize correcting is clipped to positioning once more through pretreated pseudorange observed reading of said at least four satellites and resolves, and calculates the coordinate at said validation test station; And
Demo plant is compared the coordinate at the said validation test station of twice calculating respectively with the coordinate at the said validation test station that comprised in the said station coordinates data.
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| WO2012128126A1 (en) | 2011-03-23 | 2012-09-27 | 古野電気株式会社 | Positioning apparatus, gnss receiver, information terminal device, positioning method and program |
| CN103884360B (en) * | 2014-03-04 | 2016-08-24 | 北京航天飞行控制中心 | A kind of deep space TT&C signal errors modification method |
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| CN105224737B (en) * | 2015-09-22 | 2018-06-08 | 中国人民解放军63921部队 | A kind of first value correction method of extraterrestrial target improvement of orbit |
| CN105549040A (en) * | 2015-12-04 | 2016-05-04 | 航天恒星科技有限公司 | Positioning resolving method and receiver |
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