CN104199061B - A kind of method for establishing GPS system and BDS system carrier phase frequency standards - Google Patents

A kind of method for establishing GPS system and BDS system carrier phase frequency standards Download PDF

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CN104199061B
CN104199061B CN201410419351.6A CN201410419351A CN104199061B CN 104199061 B CN104199061 B CN 104199061B CN 201410419351 A CN201410419351 A CN 201410419351A CN 104199061 B CN104199061 B CN 104199061B
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mrow
bds
gps
carrier phase
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CN104199061A (en
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易航
王宏博
张升康
王海峰
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Beijing Institute of Radio Metrology and Measurement
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Beijing Institute of Radio Metrology and Measurement
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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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related

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

Abstract

The invention discloses a kind of method for establishing global position system GPS and Beidou satellite navigation system BDS carrier phase frequency standards, because dual mode receiver possesses same local clock, identical antenna phase center, GPS and Big Dipper carrier phase data are put into same wave filter and obtain more accurate local and GPS and BDS system clock clock correction data, again by local clock, GPS system clock and the BDS system clocks clock independent as three, and establish clock group, clock group time scale is calculated using real-time atomic time algorithm, local clock is obtained with combining the clock correction data of clock.Technical scheme of the present invention is not influenceed by number of satellite, distribution situation or satellite failure compared with the prior art, and pass through more time source data fusions, GPS system and BDS system carrier phase frequency standards are established, obtains the time difference data of more accurate local zone time and UTC.

Description

A kind of method for establishing GPS system and BDS system carrier phase frequency standards
Technical field
The present invention relates to satellite-based data communication field, more particularly to a kind of GPS systems based on more time source data fusions System and BDS system carrier phase frequency establishment of standard methods.
Background technology
GPS system/Beidou satellite navigation system (BDS systems) signal has a good frequency long-term stability, and crystal oscillator/ Rubidium atomic frequency standard frequency short-term stability index is higher, and price is low, small volume, and crystalline substance is tamed using GPS system/Big Dipper Shake/rubidium atomic frequency standard can integrate both advantages, obtain higher performance indications.In some two level temporal frequency meters Measuring mechanism, it is not necessary to maintain the atomic time frequency standard that cost is very high, but need a kind of low price, and refer to than tested equipment The frequency standard of absolute altitude an order of magnitude, this demand can be met just by taming frequency standard using GPS system/Big Dipper.
Carrier phase frequency standard is to be inputted using carrier phase observed quantity and code observed quantity as system, is located in advance through data Reason, including carrier phase data error is rejected, cycle-slip detection and repair, is then completed Carrier Phase Ambiguity Resolution, is utilized carrier wave phase Position is carried out smoothly to pseudorange, and solution obtains local zone time and universal time (UTC) time difference, can be tamed and dociled by now difference sequence pair Crystal oscillator/rubidium atomic frequency standard is taken to be adjusted.To ensure that carrier phase frequency standard is more safe and reliable, using GPS system Local zone time and the UTC time differences are solved with the data aggregate of Big Dipper dual system carrier phase, during due to GPS system time and BDS systems Between system deviation be present, it is therefore desirable to more time source data fusions are carried out to GPS system and BDS system carriers phase data, with Obtain more accurate local zone time and UTC time difference datas.
It is the method using system-level fusion mostly currently for the data fusion of BDS systems and GPS system dual system, that is, sets A Federated Filters are counted, using BDS systems and GPS system as a subsystem, respective subfilter are established, in main filter Data fusion is completed by average weighted mode in ripple device, this mode, subsystem Satellite number is very few, satellite geometry It is distributed poor, or during certain satellite failure, it is too small or even be isolated to often result in the subsystem weights, have lost a large amount of useful Information；Simultaneously because GPS system has system deviation with the Beidou satellite navigation system time, can not be completed in senior filter GPS system merges with Big Dipper temporal information, is tamed so as to complete frequency.
Accordingly, it is desirable to provide a kind of time difference data fusion method, to obtain local zone time and UTC time difference datas.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of GPS system based on the fusion of more time sources and BDS systems to carry The method for building up of wave phase frequency standard, to solve in traditional federated filter fusion method, factor system number of satellite is very few, defends Star geometry be distributed poor or certain satellite failure and caused by useful information lose problem and dual system temporal information fusion Problem.
In order to solve the above technical problems, the present invention uses following technical proposals.
A kind of method for establishing GPS system and BDS system carrier phase frequency standards, this method step include
S1, source code observed quantity and carrier phase observed quantity using receiver reception GPS system and BDS systems, and it is right This data is pre-processed, and obtains the carrier phase observation data of accurate GPS system and BDS system；
S2, using the step S1 GPS systems obtained and the carrier phase observation data of BDS systems satellite pseudorange is carried out it is smooth Processing, obtain carrier phase smoothing pseudo-range value；
S3, using the carrier phase smoothing pseudo-range value obtained in step S2, to local and GPS system and BDS systems when Clock correction is calculated；
S4, using the clock difference that is obtained in step S4 more time source data fusions are carried out, try to achieve GPS system clock with combining The time difference between clock；
S5, the GPS system clock obtained according to step S4 are with combining time difference data and local clock and GPS systems between clock Unite clock difference data, local clock can be obtained and combine the clock correction between clock, and using frequency tame algorithm establish GPS system with BDS system carrier phase frequency standards.
Preferably, Detection of Gross Errors is carried out with picking to the source code observed quantity and carrier phase observed quantity in the step 1 Remove, the delay correction of cycle-slip detection and repair, Carrier Phase Ambiguity Resolution and ionospheric convection layer.
Preferably, carrier phase smoothing pseudo-range value calculation formula is utilized in the step 2Satellite pseudorange is calculated, wherein, ρs,kFor the carrier wave phase at k moment Position smoothing pseudo range, M is smoothing time constant, ρkFor the pseudorange at k moment, λ is carrier wavelength, φkFor the carrier phase at k moment.
Preferably, multiple smooth initial values are calculated, and it is first to take its average value to be calculated as carrier phase smoothing pseudo-range value Initial value.
Preferably, the step S3 includes
S31, the pseudorange observation equation for establishing GPS system satellite and BDS system-satellites respectively；
S32, if receiver antenna phase center coordinate, it is known that if the centre coordinate value is brought directly to GPS system satellite With the pseudorange observation equation of BDS system-satellites, and receiver and GPS system and BDS systems are tried to achieve respectively using least square method Clock clock correction；
If S33, receiver antenna phase center coordinate are unknown, state vector is taken WhereinWithRespectively receiver establishes Kalman filter relative to GPS system and BD system clock clock rates, Through robust Kalman filtering, receiver and GPS system and the time clock correction of BDS systems are obtainedWith
Preferably, the combination clock in the step S4 is the combination of GPS system clock, BDS system clocks and local clock Clock group.
Preferably, the step S4 includes
S41, the time clock correction to receiver and GPS system and BDS systemsWithCarry out smothing filtering and pick Except abnormity point processing, smooth time difference data δ is obtainedt,GPS、δt,BD；
S42, according to receiver relative to GPS system and BDS system clock clock ratesWithWhen trying to achieve t+ τ Carve, local clock relative to GPS system and BDS system clocks TDOA estimation value
S43, selection GPS system clock utilize time clock correction as Reference clockWithAs intermediate variable, Obtain clock correction value between BDS system clocks and GPS system clock；
S45, TDOA estimation value of the Reference clock relative to combination clock is obtained by BDS system clocksIt is and rightIt is weighted the time difference for averagely obtaining final GPS system clock with combining between clock
Preferably, the GPS system clock is with combining the time difference between clockMiddle weights ωiIt is Determined according to each clock frequency stability, i.e., the weights of one clock and its Allan variance σiIt is inversely proportional
Beneficial effects of the present invention are as follows：
Technical scheme of the present invention is not compared with the prior art by the shadow of number of satellite, distribution situation or satellite failure Ring, and by more tempon data fusions, establish GPS system and BDS system carrier phase frequency standards, obtain more accurate The time difference data of local zone time and UTC.
Brief description of the drawings
The embodiment of the present invention is described in further detail below in conjunction with the accompanying drawings；
Fig. 1 shows schematic diagram of the present invention.
Embodiment
The present invention is described further with reference to one group of embodiment and accompanying drawing.
A kind of foundation of GPS system and BDS system carrier phase time frequency standards based on more time source data fusions Method concretely comprises the following steps：
The first step, carrier phase data prediction
After source code observed quantity and carrier phase observed quantity is obtained using GPS and Big Dipper dual mode receiver, to original sight Survey data and carry out Detection of Gross Errors and rejecting, cycle-slip detection and repair, Carrier Phase Ambiguity Resolution, the delay correction of ionospheric convection layer, So as to obtain accurate GPS and BDS carrier phase observation datas.
Second step, carrier phase smoothing pseudo-range
The carrier phase observation data obtained according to the first step, and smooth, acquisition carrier wave phase is carried out to pseudorange using formula (1) Position smoothing pseudo range value.
Wherein, ρs,kFor the carrier phase smoothing pseudo-range at k moment, M is smoothing time constant, ρkFor the pseudorange at k moment, λ is Carrier wavelength, φkFor the carrier phase at k moment
In order to allow in formula (1) smooth initial value as accurate as possible, it is necessary to more several ρ of estimation as far as possibles,1Initial value
ρs,1,k=ρk-λ(φk-φ1) (2)
Value is averaged as initial value ρs,1, i.e.,
3rd step, time difference data resolve
After carrier phase smoothing pseudo-range is handled, just obtain smart between receiver and GPS system and each satellite of BDS systems True pseudorange value, if receiver observes i-th satellite, satellite pseudorange observation equation can be listed below：
When satellite i is gps satellite：
When satellite i is big-dipper satellite：
Wherein, (x, y, z) is receiver coordinate, (x(i),y(i),z(i)) it is satellite i coordinates,Respectively Receiver and GPS and BD system clock clock correction, δ t(i)For Satellite clock and GPS/BD system clock clock correction, I(i), T(i)Respectively Ionosphere, tropospheric delay,For other delay items；
If receiver antenna phase center coordinate is accurately known, formula (4), (5) can be directly substituted into, utilize least square Method can obtain receiver and GPS and dipper system clock clock correction
If receiver antenna phase center coordinate is unknown, the method for Kalman filtering can be used to calculate receiver seat simultaneously Mark and and local clock and GPS and dipper system clock clock correction, clock rate, take state vectorWhereinRespectively receiver is relative to GPS and BD System clock clock rate, establish Kalman filter, corresponding state equation
Xk=Φk,k-1Xk-1+Wk-1 (6)
Wherein Φk,k-1For state-transition matrix, Wk-1For system dynamic noise variance matrix, Φk,k-1It is represented by：
Wherein
Formula (4), (5) are linearized, obtain system measurements equation,
Wherein,The carrier phase smoothing pseudo-range value obtained by step 2, Hk is observed differential matrix, and Vk is observation noise Variance matrix, observed differential matrix are represented by
Through robust Kalman filtering, receiver and GPS and BDS system time clock correction are obtained4th Step, time difference data fusion
To acquisitionCarry out more time source data fusions.By GPS system clock, BDS system clocks, sheet Ground clock is considered as three separate time scales, forms a clock group, that is, combines clock, built using real-time atomic time algorithm Vertical GPS common view：
It is right firstWithCarry out smothing filtering, rejecting abnormalities point, the time difference data δ after obtaining smoothlyt,GPS、 δt,BD.By receiver obtained by the 3rd step relative to GPS and BDS system clock clock rates, the t+ τ moment can be obtained, local clock relative to The TDOA estimation value of GPS and BDS system clocks
GPS system clock is selected to utilize the 3rd step local clock and GPS system and the BDS system clock time differences as Reference clock Data obtain clock correction value between BDS system clocks and GPS system clock, can then pass through BDS system clocks as intermediate variable Obtain TDOA estimation value of the Reference clock relative to combination clock
It is rightIt is weighted the time difference for averagely obtaining final GPS system clock with combining between clock
Wherein weights ωiThe quality of each clock frequency stability of selection gist provide, i.e., the weights of one clock and its Allan Variances sigmaiIt is inversely proportional
5th step, local clock parameter Estimation
By local clock and GPS system clock clock correction and the 4th step GPS system clock with combining clock correction between clock, you can obtain Local clock with combining clock correction between clock, GPS/BDS carrier phase frequency standards can be established by taming algorithm through frequency.
When establishing GPS and BDS carrier phase frequency standards using this method, according to GPS and BDS carrier phase observation datas When being smoothed to pseudorange, between smoothing time constant M typically takes 20~100 epoch, while formula (1) requires to receive Machine persistently locks carrier phase, must be reset as losing lock or mistake Zhou Xianxiang, smoothing filter occur for receiver；Karr in 3rd step The selection of graceful wave filter initial value can be directly given using iterative method, and system dynamic noise variance matrix is pair of horns battle array in formula (6), because Receiver transfixion, receiver coordinate corresponding element is smaller, and clock correction is then relevant with local clock performance with clock rate respective items, right For rubidium clock, ageing rate is bigger, and formula (6) system dynamic noise variance matrix corresponding element is bigger；Every Deferred Correction in formula (5) Item passes through every Deferred Correction parameters revision in navigation message, because satellite elevation angle is lower, ionosphere delay, multipath effect etc. Correction effect is poorer, and corresponding observation error is bigger, and element value corresponding to formula (7) observation error variance matrix is bigger；Weights ωiAccording to It is anticipated that error calculation, i.e., calculate according to each clock with combining the difference of clock clock correction desired value and current calculated value, in addition, to avoid GPS or BDS system clocks occupy ascendancy because weights are very big, tackle its weights and do upper limit regulation.
In summary, technical scheme of the present invention is not compared with the prior art by number of satellite, distribution situation or satellite The influence of failure, and by more tempon data fusions, establish GPS system and BDS system carrier phase frequency standards, obtain more For accurate local zone time and UTC time difference data.
Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not pair The restriction of embodiments of the present invention, for those of ordinary skill in the field, may be used also on the basis of the above description To make other changes in different forms, all embodiments can not be exhaustive here, it is every to belong to this hair Row of the obvious changes or variations that bright technical scheme is extended out still in protection scope of the present invention.

Claims (3)

  1. A kind of 1. method for establishing GPS system and BDS system carrier phase frequency standards, it is characterised in that this method step bag Include
    S1, utilize receiver receiving world locational system GPS and Beidou satellite navigation system BDS source code observed quantity and carrier wave Phase observations amount, and this data is pre-processed, obtain the carrier phase observation data of accurate GPS system and BDS system, institute State receiver and local clock is provided；
    S2, using the step S1 GPS systems obtained and the carrier phase observation datas of BDS systems satellite pseudorange is smoothly located Reason, obtain carrier phase smoothing pseudo-range value；
    S3, using the carrier phase smoothing pseudo-range value obtained in step S2, when calculating local clock with GPS system and BDS systems Clock correction data between clock；The step S3 includes：
    S31, GPS system satellite pseudorange observation equation is established respectively：
    With
    The pseudorange observation equation of BDS system-satellites：
    Wherein, (x, y, z) For receiver coordinate, (x(i),y(i),z(i)) it is satellite i coordinates,Respectively local clock and GPS and BDS systems System clock clock correction, δ t(i)For Satellite clock and GPS/BDS system clock clock correction, I(i), T(i)Respectively ionosphere, troposphere are prolonged Late,For other delay items；
    S32, if receiver antenna phase center coordinate, it is known that if the centre coordinate value is directly substituted into GPS system satellite and BDS The pseudorange observation equation of system-satellite, and tried to achieve respectively using least square method local clock and GPS system and BDS systems when Clock clock correction；
    If S33, receiver antenna phase center coordinate are unknown, state vector is taken WhereinWithRespectively local clock establishes Kalman filtering relative to GPS system and BDS system clock clock rates Device Xk=Φk,k-1Xk-1+Wk-1, in wave filter, XkFor the state vector at k moment, Xk-1For the state vector at k-1 moment, Φk,k-1 For state-transition matrix, Wk-1For system dynamic noise variance matrix, Φk,k-1It is represented by：
    WhereinΔ t is the time difference, through robust Kalman filtering, is obtained local Clock and GPS system and the time clock correction of BDS systemsWithThe robust Kalman filtering is that GPS system is defended The system measurements equation that the linearisation of the pseudorange observation equation of star pseudorange observation equation and BDS system-satellites obtainsIt is filtered, wherein,For gained carrier phase smoothing pseudo-range value, H in step S2kFor observed differential square Battle array, VkFor observation noise variance matrix, observed differential matrix is represented by
    <mrow> <msub> <mi>H</mi> <mi>k</mi> </msub> <mo>=</mo> <mfrac> <mrow> <mo>&amp;part;</mo> <msup> <mi>&amp;rho;</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>)</mo> </mrow> </msup> </mrow> <mrow> <mo>&amp;part;</mo> <mi>X</mi> </mrow> </mfrac> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mfrac> <mrow> <mo>&amp;part;</mo> <msup> <mi>&amp;rho;</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>)</mo> </mrow> </msup> </mrow> <mrow> <mo>&amp;part;</mo> <mi>x</mi> </mrow> </mfrac> </mtd> <mtd> <mfrac> <mrow> <mo>&amp;part;</mo> <msup> <mi>&amp;rho;</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>)</mo> </mrow> </msup> </mrow> <mrow> <mo>&amp;part;</mo> <mi>y</mi> </mrow> </mfrac> </mtd> <mtd> <mfrac> <mrow> <mo>&amp;part;</mo> <msup> <mi>&amp;rho;</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>)</mo> </mrow> </msup> </mrow> <mrow> <mo>&amp;part;</mo> <mi>z</mi> </mrow> </mfrac> </mtd> <mtd> <mfrac> <mrow> <mo>&amp;part;</mo> <msup> <mi>&amp;rho;</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>)</mo> </mrow> </msup> </mrow> <mrow> <mo>&amp;part;</mo> <msub> <mi>&amp;delta;t</mi> <mrow> <msub> <mi>a</mi> <mn>0</mn> </msub> <mo>,</mo> <mi>G</mi> <mi>P</mi> <mi>S</mi> </mrow> </msub> </mrow> </mfrac> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mfrac> <mrow> <mo>&amp;part;</mo> <msup> <mi>&amp;rho;</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>)</mo> </mrow> </msup> </mrow> <mrow> <mo>&amp;part;</mo> <msub> <mi>&amp;delta;t</mi> <mrow> <msub> <mi>a</mi> <mn>0</mn> </msub> <mo>,</mo> <mi>B</mi> <mi>D</mi> </mrow> </msub> </mrow> </mfrac> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> <mo>;</mo> </mrow>
    S4, using the clock correction data that are obtained in step S3 more time source data fusions are carried out, utilize real-time atomic time algorithm to calculate Go out clock group time scale, try to achieve GPS system clock with combining the time difference between clock, the combination clock is GPS system clock, BDS The combination clock group of system clock and local clock；
    S5, according to local of the GPS system clock that step S4 is obtained with combine time difference data between clock and step S3 acquisitions when Clock and GPS system clock difference data, local clock can be obtained with combining the clock correction between clock, and tame algorithm using frequency and establish GPS system and BDS system carrier phase frequency standards.
  2. 2. according to the method for claim 1, it is characterised in that to the source code observed quantity and carrier wave in the step S1 Phase observations amount carries out Detection of Gross Errors and postponed with rejecting, cycle-slip detection and repair, Carrier Phase Ambiguity Resolution and ionospheric convection layer Correction.
  3. 3. according to the method for claim 1, it is characterised in that carrier phase smoothing pseudo-range value meter is utilized in the step S2 Calculate formulaSatellite pseudorange is calculated, wherein, ρs,kFor the k moment Carrier phase smoothing pseudo-range, M are smoothing time constant, ρkFor the pseudorange at k moment, λ is carrier wavelength, φkFor the carrier wave at k moment Phase, ρs,k-1For the carrier phase smoothing pseudo-range at k-1 moment, φk-1For the carrier phase at k-1 moment.
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