CN104503223B - GNSS (Global Navigation Satellite System) three-frequency high-precision satellite clock correction estimating and service method - Google Patents
GNSS (Global Navigation Satellite System) three-frequency high-precision satellite clock correction estimating and service method Download PDFInfo
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- CN104503223B CN104503223B CN201410777037.5A CN201410777037A CN104503223B CN 104503223 B CN104503223 B CN 104503223B CN 201410777037 A CN201410777037 A CN 201410777037A CN 104503223 B CN104503223 B CN 104503223B
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- G—PHYSICS
- G04—HOROLOGY
- G04R—RADIO-CONTROLLED TIME-PIECES
- G04R20/00—Setting the time according to the time information carried or implied by the radio signal
- G04R20/02—Setting the time according to the time information carried or implied by the radio signal the radio signal being sent by a satellite, e.g. GPS
Abstract
The invention relates to a GNSS (Global Navigation Satellite System) (GPS (Global Positioning System), Beidou, Galileo and the like) three-frequency high-precision satellite clock correction estimating and service method. Estimation and service of GNSS (GPS, Beidou, Galileo and the like) three-frequency high-precision satellite clock error are performed by using the stable characteristic of difference between ionosphere-free delay phase combination L1/L2 corresponding satellite clock error and pseudo range combination P1/P2 corresponding satellite clock error and difference between ionosphere-free delay phase combination L1/L5 corresponding satellite clock error and pseudo range combination P1/P5 corresponding satellite clock error, and the ambiguity eliminating advantage of an Epoch-difference algorithm. A new theory and a new method for the estimation and service of GNSS (GPS, Beidou, Galileo and the like) three-frequency high-precision satellite clock error are provided, so that the calculation efficiency is improved, the storage space of a computer is reduced, and the like. Furthermore, parameterized high-precision satellite clock error difference substitutes a corresponding sequence, so that communication flow rate during satellite clock error publishing and service is reduced. Observation referred in the abstract of the specification, such as L1, L2, L5, P1, P2 and P5 are the traditional expression of three-frequency observation signals in a GPS system, and the other systems, such as Beidou and Galileo system.
Description
Technical field
The invention belongs to Surveying Science and Technology/satellite navigation positioning field is and in particular to a kind of gnss tri- frequency high accuracy
Satellite clock correction is estimated and method of servicing.
Background technology
With the development of gnss, gps system after modernization, triones navigation system, galileo system etc. have begun to
The transmitting of three frequency signals, the corresponding non-three frequency positioning that differ from will progressively be launched with corresponding with service.Position to meet non-three frequencies that differ from
The needs of user it is necessary to carry out solution and the service of satellite clock correction based on three frequency observation signals of gnss reference station observation grid.
Currently for gnss high accuracy satellite clock correction service just for dual frequency subscriber, for gnss tri- frequency high accuracy satellite clock correction
Calculate blank with service；According to current gnss (gps, the Big Dipper, galileo etc.) double frequency satellite clock correction method of estimation and thinking, need
Carry out solution and the service of two sets of clock correction, that is, be exactly that no ionosphere delay combination is carried out using the observation of gnss reference station network
The estimation of the corresponding satellite clock correction of l1/l2, p1/p2 satellite clock correction corresponding with l1/l5, p1/p5.As such, it is desirable to the sight processing
Survey doubles, and causes fuzziness, receiver clock-offsets, satellite clock correction etc. to resolve parameter and is doubled and redoubled, has a strong impact on the calculating of computer
The data processing of efficiency, computing speed, particularly real time service.In addition, issued using current satellite clock correction, service mould
Formula, it is desirable to provide two sets of satellite clock correction sequences, can affect computer memory space, increase real-time stream flow.Therefore,
For the feature of gnss tri- frequency observation signal, propose new gnss tri- frequency high accuracy satellite clock correction and estimate and method of servicing, for
Following multifrequency gnss (gps, the Big Dipper, galileo etc.) navigator fix and service have important practical value and meaning.
Content of the invention
It is an object of the invention to provide a kind of gnss (gps, the Big Dipper, galileo etc.) three frequency high accuracy satellite clock correction is estimated
Meter and method of servicing.
A kind of gnss tri- frequency high accuracy satellite clock correction proposed by the present invention is estimated and method of servicing, based on global gnss or office
Domain gnss reference station data, using no ionosphere delay phase combination l1/l2, pseudo-range integration p1/p2 and no ionosphere delay phase
Bit combination l1/l5, pseudo-range integration p1/p5, solve Dual Frequency Observation corresponding high accuracy satellite clock correction and its difference, and using linear
The mixed function of function and 4 rank hamonic functions composition, to satellite clock correction differential pattern, by matching, obtains every satellite corresponding mixed
8 hamonic function coefficients of conjunction function and 2 linear function coefficients；Finally according to modelling parameters, service strategy is proposed；High-precision
In the solution of degree satellite clock correction difference, no ionosphere delay phase combination l1/l2 and the difference of l1/l5 are defended for solving high accuracy
The changing unit of star clock correction difference, no ionosphere delay pseudo-range integration p1/p2 are used for solving high accuracy satellite with the difference of p1/p5
The steady component of clock correction difference；Specifically comprise the following steps that
(1) using no ionosphere delay phase combination l1/l2, pseudo-range integration p1/p2 or no ionosphere delay phase combination
L1/l5, pseudo-range integration p1/p5, solve Dual Frequency Observation corresponding high accuracy satellite clock correction, gnss tri- frequency observation no ionosphere delay
Combination can be written as:
(1)
(2)
(3)
(4)
In formula:r、sRepresent receiver and satellite respectively；ρFor interstellar distance of standing；δ r 1,2 、δ s 1,2 It is respectively no ionosphere
Postpone the corresponding receiver of l1/l2, p1/p2, the corresponding clock correction of satellite；δ r 1,5 、δ s 1,5 Respectively no ionosphere delay l1/l5,
The corresponding receiver of p1/p5, satellite clock correction；const 1,2、const 1,5For no ionosphere delay phase combination l1/l2, l1/l5
Corresponding fuzziness；ω 1 、ω 2 For the corresponding observation noise of phase combination l1/l2, l1/l5；ε 1 、ε 2 For pseudo-range integration p1/
The corresponding observation noise of p2, p1/p5.Solve the corresponding satellite clock correction of Dual Frequency Observation using formula (1), (2) or formula (3), (4)；
Described Data Source is in the whole world or the observation of local gnss reference station；
(2) solve satellite clock correction difference, that is, solve the difference of ionosphere delay phase combination l1/l2 and l1/l5, and by its
For solving the changing unit of high accuracy satellite clock correction difference, solve the difference of no ionosphere delay pseudo-range integration p1/p2 and p1/p5
Different, and use it for solving the steady component of high accuracy satellite clock correction difference.Formula (1) deducts formula (3) and can eliminate station star spacing
From, tropospheric delay etc., can be written as:
(5)
In formula:δ s For satellite clock correction difference, in the case of not having cycle slip to occur, adjacent epochk、k-1Between subtract each other, can
Be calculated satellite clock correction difference epoch between difference:
(6)
In formula: δδ s Difference between for the epoch of satellite clock correction difference.When reference station network hasnIndividual station traces into correspondence and defends
Star, can calculate its meansigma methods:
(7)
In formula: δδ s (k) bekDifference between the epoch of epoch corresponding satellite clock correction difference, selects a reference epoch permissible
Solve and obtain the difference of satellite clock correction:
(8)
In formula:δ s (k 0) it is with reference to epochk 0Satellite clock correction difference, it can adopt pseudorange observation p1/p2, p1/p5
Calculated.Similar in appearance to the difference in no ionosphere and delay phase observations l1/l2 and l1/l5, the difference of p1/p2, p1/p5 is permissible
It is written as:
(9)
In formula:δ r,s For receiver, satellite clock correction difference；Select a reference satellite, then can carry out satellite, receiver clock
The separation of difference:
(10)
In formula:cFor reference star.When reference station network hasnIndividual station traces into corresponding satellite, can calculate its meansigma methods:
(11)
When satellite existslIndividual epoch is traced to, then can be calculated the value of the reference epoch of satellite clock correction differenceδ s
(k 0)
(12)
Satellite clock correction difference will be can be obtained by using formula (12) calculated value substitution formula (8).
(3) the satellite clock correction differential pattern that step (2) is obtained.Satellite clock correction difference can be expressed as:
(13)
In formula:dFor constant term；eFor linear term；i(i=1 ~ 4) for the exponent number of hamonic function；t i Cycle for hamonic function；θ i
For the corresponding first phase of hamonic function；λ i For the corresponding amplitude of hamonic function；Whereint 1 =12、t 2 =6、t 3 =8、t 4 =4 hours.Using formula
(13) resolve, to step (2), the satellite clock correction difference time sequence obtaining to be fitted, obtain corresponding 8 hamonic function coefficients
(θ i (i=1~4) andλ i (i=1~4)) and 2 linear function coefficients (d、e)；
(4) gnss tri- frequency high accuracy satellite clock correction service strategy
The corresponding 8 hamonic function coefficients of every satellite that obtain step (3) and 2 linear function coefficients are filled into no electricity
Absciss layer postpones combination l1/l2, p1/p2 or l1/l5, p1/p5 to should be in the Dual Frequency Observation clock correction of satellite；User is obtaining this
Individual 10 parameters, no ionosphere delay combination l1/l2, p1/p2 or l1/l5, p1/p5 corresponding high accuracy satellite clock correction it
Afterwards it is possible to recover any dual-frequency, three frequency observations, the observation corresponding satellite clock correction of combination.
In the present invention, described gps can be replaced using the Big Dipper or galileo.
The beneficial effects of the present invention is: the present invention adopts the good of gnss phase place, pseudorange observation and satellite clock correction difference
Good characteristic, decreases substantial amounts of estimation number of parameters, such as gnss fuzziness, receiver clock-offsets etc., improve the efficiency of resolving with
Speed.The offer of two sets of satellite clock correction sequences is provided, estimates compared with method of servicing with traditional gnss satellite clock correction,
Only increase corresponding 10 parameters of every satellite, decrease the flow of memory space, issue or the transmission of computer.This
The bright blank also having filled up current three frequency gnss satellite clock corrections estimations and method of servicing.
Brief description
Fig. 1 is the flow chart of the present invention:
Fig. 2 is the corresponding clock correction of prn27 satellite of embodiment 1.
Fig. 3 is the prn27 satellite corresponding clock correction difference of embodiment 1.
Specific embodiment
Further illustrate the present invention below by embodiment.
Embodiment 1
The present invention is the side that a kind of gnss (gps, the Big Dipper, galileo etc.) three frequency high accuracy satellite clock correction estimates with service
Method, obtains 30 igs reference stations first in three frequency observation data of No. 10 collections of in June, 2014, the sampling interval is 30 seconds, observation
Shi Changwei 24 hours.Then carry out three frequency satellite clock corrections using method in the present invention to estimate and service experiment.
(1) using no ionosphere delay phase combination l1/l2, pseudo-range integration p1/p2 or no ionosphere delay phase combination
L1/l5, pseudo-range integration p1/p5, solve Dual Frequency Observation corresponding high accuracy satellite clock correction.This experiment employ observation l1/l2,
P1/p2 carries out the calculating of Dual Frequency Observation satellite clock correction.The corresponding clock correction of its Satellite prn27 is as shown in Figure 2.
(2) satellite clock correction difference calculates: subtracts each other and then carries out difference between epoch using l1/l2, l1/l5 and carry out the change of divergence
Partial calculating (as formula (5)-(8)), carries out the calculating (as formula (9)-(12)) of difference steady component using p1/p2, p1/p5.
Selection prn25 is reference star, calculates all satellite in orbit corresponding clock correction difference that current gps system launches three frequency signals.
The stabilizers score value of its Satellite prn27 clock correction difference is: 1.02 meters, its corresponding clock correction difference is as shown in Figure 3.
(3) satellite clock correction difference matching: be fitted using the calculated clock correction difference of step (2), wherein calculate
Corresponding 10 coefficients of satellite prn24, prn27 arriving are as shown in table 1 below, and the wherein corresponding unit of parameters is:d: rice；E:
Meter per second；λ i (i=1 ~ 4): rice；λ i (i=1 ~ 4): degree.
| Satellite | 10 coefficients (d、e、λ 1 、λ 2 、λ 3 、λ 4 、θ 1 、θ 2 、θ 3 、θ 4 ) |
| prn24 | -0.024940, 0.0000262, 0.031878, 0.026364,0.007683, 0.004617, 41.124, 230.934, 86.270, 123.564 |
| prn27 | 1.056195, 0.0000074, 0.036911, 0.023930, 0.003065, 0.004945, 253.276, 288.471, 254.527, 92.398 |
(4) three frequency satellite clock correction services: obtained with step (3) using step (1) calculated double frequency satellite clock correction sequence
To satellite clock correction differential pattern coefficient realize three frequency satellite clock corrections service., obtain in step (1) taking satellite prn27 as a example
In double frequency satellite clock correction sequence, the filling coefficient that obtains of step (3) matching can be it is not necessary to the offer of two clock correction sequences.With biography
The method of system compares, and calculating speed is very fast, and required calculating memory space is less.
The satellite clock correction being resolved in the above-described example, is satisfied by the high accuracy satellite clock correction needs of non-poor user, can be real
Existing three frequency hi-Fixs.It can thus be seen that gnss tri- frequency high accuracy satellite clock correction of the present invention is estimated and service, both filled up
Gnss (gps, the Big Dipper, galileo etc.) three frequency high accuracy satellite clock correction estimates the blank with service, also meets three frequency high accuracy
Clock correction service request.
Claims (1)
1. a kind of gnss tri- frequency high accuracy satellite clock correction is estimated with method of servicing it is characterised in that being based on global gnss or local
Gnss reference station data, using no ionosphere delay phase combination l1/l2, pseudo-range integration p1/p2 and no ionosphere delay phase place
Combination l1/l5, pseudo-range integration p1/p5, solve Dual Frequency Observation corresponding high accuracy satellite clock correction and its difference, and adopt linear letter
The mixed function that number is formed with 4 rank hamonic functions, to satellite clock correction differential pattern, by matching, obtains the corresponding mixing of every satellite
8 hamonic function coefficients of function and 2 linear function coefficients；Finally according to modelling parameters, service strategy is proposed；In high accuracy
In the solution of satellite clock correction difference, no ionosphere delay phase combination l1/l2 and the difference of l1/l5 are used for solving high accuracy satellite
The changing unit of clock correction difference, no ionosphere delay pseudo-range integration p1/p2 are used for solving high accuracy satellite clock with the difference of p1/p5
The steady component of difference；Specifically comprise the following steps that
(1) using no ionosphere delay phase combination l1/l2, pseudo-range integration p1/p2 or no ionosphere delay phase combination l1/
L5, pseudo-range integration p1/p5, solve Dual Frequency Observation corresponding high accuracy satellite clock correction, gnss tri- frequency observation no ionosphere delay group
Conjunction can be written as:
(1)
(2)
(3)
(4)
In formula:r、sRepresent receiver and satellite respectively；ρFor interstellar distance of standing；δ r 1,2 、δ s 1,2 It is respectively no ionosphere delay
The corresponding receiver of l1/l2, p1/p2, the corresponding clock correction of satellite；δ r 1,5 、δ s 1,5 It is respectively no ionosphere delay l1/l5, p1/
The corresponding receiver of p5, satellite clock correction；const 1,2、const 1,5For no ionosphere delay phase combination l1/l2, l1/l5 pair
The fuzziness answered；ω 1 、ω 2 For the corresponding observation noise of phase combination l1/l2, l1/l5；ε 1 、ε 2 For pseudo-range integration p1/p2,
The corresponding observation noise of p1/p5；Solve the corresponding satellite clock correction of Dual Frequency Observation using formula (1), (2) or formula (3), (4)；Described
Data Source is in the whole world or the observation of local gnss reference station；
(2) solve satellite clock correction difference, that is, solve the difference of ionosphere delay phase combination l1/l2 and l1/l5, and use it for
Solve the changing unit of high accuracy satellite clock correction difference, solve the difference of no ionosphere delay pseudo-range integration p1/p2 and p1/p5,
And use it for solving the steady component of high accuracy satellite clock correction difference；Formula (1) deducts (3) and eliminates station interstellar distance, troposphere
Postpone, can be written as:
(5)
In formula:δ s For satellite clock correction difference, in the case of not having cycle slip to occur, adjacent epochk、k-1Between subtract each other, can calculate
Obtain difference between the epoch of satellite clock correction difference:
(6)
In formula: δδ s Difference between for the epoch of satellite clock correction difference；When reference station network hasnIndividual station traces into corresponding satellite, can
To calculate its meansigma methods:
(7)
In formula: δδ s (k) bekDifference between the epoch of epoch corresponding satellite clock correction difference, selects one can solve with reference to epoch
Obtain the difference of satellite clock correction:
(8)
In formula:δ s (k 0) it is with reference to epochk 0Satellite clock correction difference, it can be carried out using pseudorange observation p1/p2, p1/p5
Calculate；Similar in appearance to the difference in no ionosphere and delay phase observations l1/l2 and l1/l5, the difference of p1/p2, p1/p5 is written as:
(9)
In formula:δ r,s For receiver, satellite clock correction difference；Select a reference satellite, then can carry out satellite, receiver clock-offsets poor
Different separation:
(10)
In formula:cFor reference star；When reference station network hasnIndividual station traces into corresponding satellite, can calculate its meansigma methods:
(11)
When satellite existslIndividual epoch is traced to, then can be calculated the value of the reference epoch of satellite clock correction differenceδ s (k 0)
(12)
Satellite clock correction difference will be can be obtained by using formula (12) calculated value substitution formula (8)；
(3) the satellite clock correction differential pattern that step (2) is obtained；Satellite clock correction difference can be expressed as:
(13)
In formula:dFor constant term；eFor linear term；i(i=1 ~ 4) for the exponent number of hamonic function；t i Cycle for hamonic function；θ i For humorous
The corresponding first phase of function；λ i For the corresponding amplitude of hamonic function；Whereint 1 =12、t 2 =6、t 3 =8、t 4 =4 hours；Right using formula (13)
Step (2) resolves the satellite clock correction difference time sequence that obtains and is fitted, obtain corresponding 8 hamonic function coefficients (θ i (i=1~
4) andλ i (i=1~4)) and 2 linear function coefficients (d、e)；
(4) gnss tri- frequency high accuracy satellite clock correction service strategy
The corresponding 8 hamonic function coefficients of every satellite that obtain step (3) and 2 linear function coefficients are filled into no ionosphere
Postpone combination l1/l2, p1/p2 or l1/l5, p1/p5 to should be in the Dual Frequency Observation clock correction of satellite；User obtain this 10
Individual parameter, no ionosphere delay combination l1/l2, p1/p2 or l1/l5, after the corresponding satellite clock correction of p1/p5 it is possible to extensive
Corresponding satellite clock correction is combined in multiple any dual-frequency, three frequency observations, observation.
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| CN105158780B (en) * | 2015-07-24 | 2017-11-07 | 北京跟踪与通信技术研究所 | One kind is based on the interchangeable navigation locating method of a variety of aeronautical satellites |
| CN108254762B (en) * | 2016-12-28 | 2021-07-27 | 千寻位置网络有限公司 | Pseudo-range differential positioning method and system |
| CN108490463A (en) * | 2018-02-09 | 2018-09-04 | 东南大学 | Clock correction estimation of deviation and modeling method between a kind of big-dipper satellite frequency |
| CN108919634B (en) * | 2018-08-13 | 2020-08-07 | 中国科学院国家授时中心 | Beidou three-frequency non-differential non-combined observation value time transmission system and method |
| CN111352718B (en) * | 2020-03-27 | 2023-05-02 | 中国科学院国家空间科学中心 | GNSS multisystem occultation ground processing business scheduling system |
| CN112242866B (en) * | 2020-10-15 | 2022-07-26 | 中国科学院微小卫星创新研究院 | Beidou satellite clock autonomous health management system based on intersatellite link one-way measurement |
| CN113933868B (en) * | 2021-12-16 | 2022-03-22 | 中南大学 | Modeling method for satellite clock bias between frequencies of Beidou second MEO satellite |
| CN115390110A (en) * | 2022-07-29 | 2022-11-25 | 同济大学 | Method for increasing update interval of Beidou real-time satellite clock error service parameters |
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