CN104238353B - Fusion method is switched based on the time signal that many constellation systems time differences are independently detected - Google Patents
Fusion method is switched based on the time signal that many constellation systems time differences are independently detected Download PDFInfo
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- CN104238353B CN104238353B CN201410506239.6A CN201410506239A CN104238353B CN 104238353 B CN104238353 B CN 104238353B CN 201410506239 A CN201410506239 A CN 201410506239A CN 104238353 B CN104238353 B CN 104238353B
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Abstract
The invention discloses a kind of time signal switching fusion method independently detected based on many constellation systems time differences, mainly include step step 1：The system time difference calculates；Step 2：Independently detection and credibility quantification sign are carried out to the time difference of calculating；Step 3：Intermediate value compensation correction is carried out to local clock correction data to merge with multisystem time signal.Due to carrying out the compensation of the system time difference to the local clock correction under multiple systems, therefore when carrying out the switching of different system time signal, the phase place change of time signal is reduced, the fusion of time signal under different satellite navigation systems is preferably solved the problems, such as.
Description
Technical field
It is more particularly to a kind of independently to be detected based on many constellation systems time differences the present invention relates to technical field of satellite time service
Time signal switches fusion method.
Background technology
GALILEO (Galileo) system that current GPS of America Russian GLONASS European Union plan is built, and China exist
In the Big Dipper second generation satellite navigation system built it is four largest in the world on the basis of Beidou satellite navigation pilot system
GLONASS slightly has difference due to the navigation emphasis of each system, and its Constellation Design is different, adds satellite letter
Number easily by environmental disturbances and masking, some GLONASS is used alone and carries out positioning time service, can in specific region
The problem of there is reliability precision and larger integrality missing, it is difficult to meet high demand positioning time service, therefore be by four big positioning
System carries out efficient combination, plays the detent edge of each system, and the positioning performance for obtaining high-precision high-reliability is significant.
Satellite time transfer is a critical function of satellite navigation system, and satellite time transfer is widely used in telecommunications, electric power, finance
Etc. the key departments involved the interests of the state and the people, otherwise there is potential safety hazard in single satellite time service system, otherwise the reliability of system
It cannot be guaranteed, many constellation alignment by union, time service are the trend of application field, it is also in the market to occur in that bimodulus or multimode more
Time service product, but many integration programs using module level, i.e., the time signal 1PPS levels exported in time service module are merged,
When carrying out the switching of different satellite navigation system time signals, because the presence of the system time difference causes 1PPS time signals to be shaken
Amplitude is excessive, causes time signal hydraulic performance decline, the time service fusion independently detected based on many constellation systems time differences being mentioned herein
Method, solves this problem well.
The content of the invention
The phase drift phenomenon that the present invention occurs for many constellation Timing Receiver time signals when system switches is existing
There is provided a kind of time signal switching fusion method independently detected based on many constellation systems time differences for problem.
The technical scheme is that：It is a kind of that fusion side is switched based on the time signal that many constellation systems time differences are independently detected
Method, mainly comprises the following steps：Step 1：The system time difference calculates；Step 2：The time difference of calculating is independently detected；Step 3：
Correction is compensated to local clock correction data.
Further, the computational methods of the system time difference of system described in step 1 are：If time signal in multi-constellation navigation system
Two to be switched different navigation systems represent with A, B respectively, A and it is local when target deviation be τa, B and it is local when target deviation
For τb, receiver local coordinate system is xu、yu、zu, wherein, τa、τb、xu、yu、zuCalculated and tried to achieve by estimation theory, | τa-τb| it is
A and the B system time difference that receiver is obtained.
Further, the specific steps that the time difference of calculating is independently detected are included in step 2：
Step 2.1：It is more than M with tracking satellite number, satellite DOP values are less than N, and it is examination criteria that valuation residual error RMS, which is less than Q,
(M, N, Q are set as the case may be), when reaching standard, the system time difference of record this moment is the effective system time difference；
Step 2.2：To judging that the efficient system time difference is further processed, a set time constant t is set, set
In the set time constant t put, statistical analysis is carried out to all effective system time differences, these system time difference values carried out first
Differential Detection, judges whether time difference value has Spline smoothing, and this is then thought if Spline smoothing and step value are more than setting thresholding
The system time difference in section set time constant is unavailable；If the system time difference through above-mentioned this time of judgement can use, to this
The system time difference in the section time is ranked up processing, and chooses middle one piece of data progress mean value computation, assign this average as this
The optimizer system time difference in the section time.
The optimizer system time difference that step 2.2 is chosen is used for carrying out the compensating approach of local clock correction, and revised A, B satellite is led
The local clock correction of boat system is respectively： Wherein τ 'a、τ′b
The revised local clock correction of respectively A and the revised local clock correction of B.
Further, step 2.1.1 is additionally provided between step 2.1 and step 2.2：Judging whether the system time difference is effective
Corresponding tracking satellite number, DOP values, valuation residual error RMS are recorded simultaneously, the confidence level to mark this system time difference recorded；
Step 2.3 is additionally provided with after step 2.2：Count satellite number, satellite DOP values and the valuation residual error in optimizer system temporal difference time section
RMS, the size of these three parameters can be quantified by codomain adjustment and average weighted method, when carrying out different to facilitate
Between in section system time difference confidence level comparison.
Further, repeat step 2.1, step 2.1.1, step 2.2, step 2.3, then with being in the period before
System time difference credibility quantification value is compared, if current system moment credibility quantification value is more than system time difference confidence level before
Quantized value then more new system time difference, it is the local clock correction compensation system time difference to make the system time difference after renewal.
The beneficial effects of the invention are as follows：Method provided by the present invention implements easy and effective, operation is steady in engineering practice
It is fixed reliable, preferably solve the problems, such as the fusion of time signal under different satellite navigation systems.
Brief description of the drawings
The present invention is described in further details below in conjunction with the accompanying drawings；
Fig. 1：Workflow schematic diagram of the present invention.
Embodiment
Referring to Fig. 1, the present invention solves the phase drift that many constellation Timing Receiver time signals occur when system switches
Phenomenon, for convenience to the understanding of technical solution of the present invention, is described by taking Beidou system and the GPS system as an example below, but this
The method of text description may apply in other different satellite navigation system assembled schemes.
Mainly comprised the following steps based on the time signal switching fusion method that many constellation systems time differences are independently detected：First
The calculating of the carry out system time difference；Secondly, independently detection is carried out to the system time difference of calculating and credibility quantification is identified；Finally, it is right
Local clock correction data compensate correction.
Specifically, the first step, the system time difference calculates：
If dipper system and it is local when target deviation be τa, gps system and it is local when target deviation be τb, receiver is local
Coordinate unknown coordinates are xu、yu、zu, this 5 unknown quantitys can by estimation theory calculate try to achieve, the method for solving of unknown quantity is general
Method is repeated no more, due to local clock correction, be one observation the moment try to achieve, therefore difference be this receiver obtain difference
The outline system time difference of satellite navigation system.
Second step, the system time difference, independently detection and credibility quantification were indicated：
1) because the error of tracking satellite number, GPS relative positioning and DVB information processing can cause above-mentioned meter
The calculation system time difference produces deviation, and this module carries out integrity detection to obtain during system with a high credibility to the system time difference of calculating
Difference, is more than M, satellite DOP values are less than N, and valuation residual error RMS is less than Q, after these primary conditions are met, note with track satellite number
The system time difference for recording this moment is the effective system time difference.
2) corresponding tracking satellite number, DOP values, valuation residual error RMS are recorded while judging whether the system time difference is effective
Recorded, the confidence level to mark this system time difference recorded.
3) to judging that the efficient system time difference is further processed, a set time constant t is set, in consolidating for setting
Fix time in constant t, statistical analysis is carried out to all effective system time differences, difference is carried out to these system time difference values first
Detection, judges whether time difference value has Spline smoothing, sets thresholding if Spline smoothing and step value are more than and then thinks that this section is
The system time difference is unavailable.
4) if the system time difference through above-mentioned this time of judgement can use, the system time difference in this period is arranged
Sequence processing, and choose middle one piece of data and carry out mean value computation, this average is optimal as the system time difference in this time
Estimate.
5) satellite number, satellite DOP values and the valuation residual error RMS in statistics time period, the sizes of these three parameters can be with
Quantified by codomain adjustment and average weighted method, to facilitate the ratio for carrying out system time difference confidence level in different time sections
Compared with.
6) statistics for repeating 1-5 steps is calculated, and is then carried out with the system time difference credibility quantification value in the period before
Compare, the more new system time difference if system time difference credibility quantification value before current system moment credibility quantification value is more than,
It is the local clock correction compensation system time difference to make the system time difference after renewal.
3rd step, local clock correction compensation correction：
Local clock correction is local markers and the deviation of system time, using local clock correction as input in the generation of time signal
Amount carries out local time signal 1PPS phase adjustment, at the time of can making local time signal 1PPS phase and system time pair
Together, because the system time difference of different satellite navigation system time systems is present, because of the time service letter based on different satellite navigation systems
Number 1PPS is devious in phase, when carrying out different satellite navigation systems and carrying out time signal switching, it may appear that time service
Signal 1PPS phases it is discontinuous, based on second step count the system time difference can carry out being based on the local clock of different satellite navigation systems
The compensating approach of difference, the local clock correction of revised BD/GPS satellite navigation systems is respectively：
Wherein τ 'aFor the local clock correction after dipper system compensating approach, τ 'bFor the local clock after gps system compensating approach
Difference, because the intermediate value that the system time difference is carried out to the local clock correction under two systems is compensated, therefore is carrying out dipper system and GPS systems
When time signal of uniting switches, the phase place change of time signal is reduced, the effective integration of multisystem time signal is realized.
Finally it should be noted that:The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, those of ordinary skills in the art should understand that：Still
The embodiment of the present invention can be modified or equivalent substitution is carried out to some technical characteristics；Without departing from this hair
The spirit of bright technical scheme, it all should cover among claimed technical scheme scope of the invention.
Claims (4)
1. a kind of switch fusion method based on the time signal that many constellation systems time differences are independently detected, it is characterised in that main bag
Include following steps：
Step 1：The system time difference calculates；Wherein, the computational methods of the system time difference are：If time service is believed in multi-constellation navigation system
Number two to be switched different navigation systems represent with A, B respectively, A and it is local when target deviation be τa, B with it is local when target it is inclined
Difference is τb, receiver local coordinate system is xu、yu、zu, wherein, τa、τb、xu、yu、zuCalculated and tried to achieve by estimation theory, | τa-τb| i.e.
The A obtained for receiver and the B system time difference；
Step 2：Independently detection and credibility quantification sign are carried out to the time difference of calculating；Wherein, the time difference of calculating is carried out independently
The specific steps of detection include：
Step 2.1：With tracking satellite number be more than M, satellite DOP values be less than N, valuation residual error RMS be less than Q for examination criteria (M,
N, Q are set as the case may be), when reaching standard, the system time difference of record this moment is the effective system time difference；
Step 2.2：To judging that the efficient system time difference is further processed, a set time constant t is set, in setting
In set time constant t, statistical analysis is carried out to all effective system time differences, difference is carried out to these system time difference values first
Detection, judges whether time difference value has Spline smoothing, then thinks that this section is solid if Spline smoothing and step value are more than setting thresholding
The system time difference fixed time in constant is unavailable；If the system time difference through above-mentioned this time of judgement can use, during to this section
The interior system time difference is ranked up processing, and chooses middle one piece of data progress mean value computation, during using this average as this section
The interior optimizer system time difference；
Step 3：Intermediate value compensation correction is carried out to local clock correction data to merge with multisystem time signal.
2. according to claim 1 switch fusion method based on the time signal that many constellation systems time differences are independently detected, its
It is characterised by, the optimizer system time difference that step 2.2 is chosen is used for carrying out the compensating approach of local clock correction, revised A, B satellite
The local clock correction of navigation system is respectively：Wherein
τ′a、τ′bThe revised local clock correction of respectively A and the revised local clock correction of B.
3. according to claim 2 switch fusion method based on the time signal that many constellation systems time differences are independently detected, its
It is characterised by, step 2.1.1 is additionally provided between step 2.1 and step 2.2：Recorded while judging whether the system time difference is effective
Corresponding tracking satellite number, DOP values, valuation residual error RMS, the confidence level to mark this system time difference recorded；Step 2.2 it
After be additionally provided with step 2.3：Satellite number, satellite DOP values and the valuation residual error RMS in optimizer system temporal difference time section are counted, this three
The size of individual parameter can be quantified by codomain adjustment and average weighted method, be to facilitate in progress different time sections
The comparison for time difference confidence level of uniting.
4. according to claim 3 switch fusion method based on the time signal that many constellation systems time differences are independently detected, its
It is characterised by, repeat step 2.1, step 2.1.1, step 2.2, step 2.3 then can with the system time difference in the period before
Reliability quantized value is compared, if system time difference credibility quantification value before current system moment credibility quantification value is more than
The more new system time difference, it is the local clock correction compensation system time difference to make the system time difference after renewal.
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| CN114841297B (en) * | 2022-07-05 | 2022-09-06 | 成都戎星科技有限公司 | DTO separation-based multi-satellite passive positioning scattered target classification method |
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