CN105549051B - A kind of star clock and ephemeris error based on low order surface model are with respect to correcting method - Google Patents

A kind of star clock and ephemeris error based on low order surface model are with respect to correcting method Download PDF

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CN105549051B
CN105549051B CN201510919010.XA CN201510919010A CN105549051B CN 105549051 B CN105549051 B CN 105549051B CN 201510919010 A CN201510919010 A CN 201510919010A CN 105549051 B CN105549051 B CN 105549051B
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error
model
ephemeris
surface model
difference
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CN105549051A (en
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李灵巧
任超超
蔡成林
杨辉华
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Guilin University of Electronic Technology
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Guilin University of Electronic Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • 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
    • G01S19/27—Acquisition or tracking or demodulation of signals transmitted by the system creating, predicting or correcting ephemeris or almanac data within the receiver

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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)
  • Power Engineering (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a kind of star clock and ephemeris error based on low order surface model with respect to correcting method, by to the one-stop correction of star clock error, relative surplus ephemeris error establishes 6 kinds of low order surface models, find out the surface model of visual direction residual error minimum, surface model parameter is obtained by 6 or more difference stations, the relative surplus ephemeris error of position is calculated using surface model parameter and is directly corrected, by obtaining correction effect to 11 difference station optimization layouts；This method does not need to establish stringent time synchronization network between each difference station, and in the range of the visual direction residual error in service area being adapted to very little by 11 station difference, positioning accuracy is high.

Description

A kind of star clock and ephemeris error based on low order surface model are with respect to correcting method
Technical field
The invention belongs to field of satellite navigation, more particularly to a kind of star clock and ephemeris error phase based on low order surface model To correcting method
Background technology
Traditional wide area difference method is using total state estimation technique estimation star clock and ephemeris error, it is assumed that each station and satellite navigation The system time of system is fully synchronized, and total state estimation technique satellite position and time form 4 dimension spaces, and with minimum two Multiplication is estimated and detaches the error component of satellite, obtains ephemeris error and star clock error, can regard the inverse positioning of GPS as.So And in satellite navigation satellite-based augmentation system, each difference station time keeps fully synchronized extremely difficult, and currently employed satellite is two-way Time Transmission technology respectively has the time synchronization error of 0.3-1ns, if this error is using the vector of ideal situation between station Differential principle resolves, and clock time of standing synchronous error can be absorbed as ephemeris error, be influenced by the error amplification of inverse positioning DOP, ephemeris The calculation accuracy of correction equally by larger impact, causes positioning accuracy not high.
Invention content
Against the above deficiency, the present invention provides the opposite corrections of a kind of star clock and ephemeris error based on low order surface model Method does not need to establish stringent time synchronization network between each difference station, can be by the visual direction in service area by 11 station difference Residual error is adapted in the range of very little, and positioning accuracy is high.
Realizing the technical solution of the object of the invention is：
A kind of star clock and ephemeris error based on low order surface model include the following steps with respect to correcting method：
1) true reference point is moved to the reference point of resolving and to the pseudorange after migration by the one-stop correction of star clock error Error is corrected, although the star clock error calculated is not star clock error true value, this correction is best to main website , because main website to the pseudorange error between broadcast ephemeris is adapted to 0 by it, the position error of main website is also adapted to 0；
2) relative surplus ephemeris error establishes 6 kinds of low order surface models；
3) surface model of error of fitting minimum is found out；Pass through 6 equally distributed difference stations, 110 ° of Xi'an E34 ° of N, length E29 ° of 126 ° of E45 ° of N of spring, the E33 ° of N in 122 ° of Shanghai, the E45 ° of N in 86 ° of Urumchi, the E17 ° of N in 110 ° of Sanya, 94 ° of Lhasa N are established bent Surface model, the visual direction residual error after 9-49 ° of N is corrected with 74-138 ° of E grid points by surface model are represented with surface chart Come, the surface model of error identifying minimum；
4) surface model parameter is obtained by 6 or more difference stations, is joined using formula (7) computation model in step 2) Number；
5) it calculates the relative surplus ephemeris error of position using surface model parameter and directly corrects, use step 3) model parameter calculation obtained goes out the relative surplus ephemeris error V of position, at the Preprocessing Algorithms such as Kalman filtering Pseudorange after reason, which subtracts the star clock error that step 1) obtains and subtracts relative surplus ephemeris error V again, obtains revised pseudorange.
6) the revised pseudorange for obtaining step 5) is substituted into step 3), the position of error maximum in error surface figure Add a difference station, iterative step 3)~step 6) until pseudorange positioning meet required precision.
7) by obtaining correction effect to 11 difference stations optimization layout, the E34 ° of N in 110 ° of Xi'an, the E45 ° of N in 126 ° of Changchun, on The 122 ° of E33 ° of N in sea, the E45 ° of N in 86 ° of Urumchi, the E17 ° of N in 110 ° of Sanya, the E29 ° of N in 94 ° of Lhasa, 110 ° of packet header E41 ° of N, Keshen (E21 ° of 74 ° of E17 ° of N, the E29 ° of N in 110 ° of Changsha, the E25 ° of N in 106 ° of Kunming, 116 ° of Dongsha Islands N respectively build 1 difference station, by upper It states 11 difference station optimization layouts and obtains correction effect；The best correction effect obtained for this method.
Step 2) relative surplus ephemeris error may be characterized as following several forms with low order surface model：
V (L, B)=a0+a1L+a2B+a3LB (model 1)
V (L, B)=a0+a1L+a2B+a3L2+a4B2(model 2)
V (L, B)=a0+a1L+a2B+a3L2+a4LB+a5B2(model 3)
V (L, B)=a0+a1L+a2B+a3L2+a4B2+a5L3+a6B3(model 4)
V (L, B)=a0+a1L+a2B+a3L2+a4LB+a5B2+a6L3+a7B3(model 5)
V (L, B)=a0+a1L+a2B+a3L2+a4LB+a5B2+a6L3+a7BL2+a8LB2+a9B3(model 6)
Wherein V represents relative surplus ephemeris error, and L, B represent longitude and latitude respectively, and a represents the parameter of surface model, Then
V=aH, a=(HTH)-1HTΔρ (7)
Remaining ephemeris after one-stop opposite correction elimination star clock error and ephemeris error are a large amount of in Δ ρ expression steps 1 misses Difference, Iterative Matrix H are corresponding with following several forms：
Advantageous effect
The present invention provides a kind of star clock and ephemeris error based on low order surface model with respect to correcting method, this method is not It needs to establish stringent time synchronization network between each difference station, it can be by the visual direction residual error in service area by 11 station difference It is adapted in the range of very little, positioning accuracy is high.
Description of the drawings
Fig. 1 is deviations figure
Specific embodiment
The invention will be further elaborated with reference to the accompanying drawings and examples, but is not limitation of the invention,
Embodiment
A kind of star clock and ephemeris error based on low order surface model include the following steps with respect to correcting method：
1) true reference point is moved to the reference point of resolving and to the pseudorange after migration by the one-stop correction of star clock error Error is corrected, although the star clock error calculated is not star clock error true value, this correction is best to main website , because main website to the pseudorange error between broadcast ephemeris is adapted to 0 by it, the position error of main website is also adapted to 0；
2) relative surplus ephemeris error establishes 6 kinds of low order surface models；
3) surface model of error of fitting minimum is found out；Pass through 6 equally distributed difference stations, 110 ° of Xi'an E34 ° of N, length E29 ° of 126 ° of E45 ° of N of spring, the E33 ° of N in 122 ° of Shanghai, the E45 ° of N in 86 ° of Urumchi, the E17 ° of N in 110 ° of Sanya, 94 ° of Lhasa N are established bent Surface model, the visual direction residual error after 9-49 ° of N is corrected with 74-138 ° of E grid points by surface model are represented with surface chart Come, the surface model of error identifying minimum；
4) surface model parameter is obtained by 6 or more difference stations, is joined using formula (7) computation model in step 2) Number；
5) it calculates the relative surplus ephemeris error of position using surface model parameter and directly corrects, use step 3) model parameter calculation obtained goes out the relative surplus ephemeris error V of position, at the Preprocessing Algorithms such as Kalman filtering Pseudorange after reason, which subtracts the star clock error that step 1) obtains and subtracts relative surplus ephemeris error V again, obtains revised pseudorange
6) the revised pseudorange for obtaining step 5) is substituted into step 3), the position of error maximum in error surface figure Add a difference station, iterative step 3)~step 6) until pseudorange positioning meet required precision.
7) by obtaining correction effect to 11 difference stations optimization layout, the E34 ° of N in 110 ° of Xi'an, the E45 ° of N in 126 ° of Changchun, on The 122 ° of E33 ° of N in sea, the E45 ° of N in 86 ° of Urumchi, the E17 ° of N in 110 ° of Sanya, the E29 ° of N in 94 ° of Lhasa, 110 ° of packet header E41 ° of N, Keshen (E21 ° of 74 ° of E17 ° of N, the E29 ° of N in 110 ° of Changsha, the E25 ° of N in 106 ° of Kunming, 116 ° of Dongsha Islands N respectively build 1 difference station, by upper It states 11 difference station optimization layouts and obtains correction effect；The best correction effect obtained for this method.
Step 2) relative surplus ephemeris error may be characterized as following several forms with low order surface model：
V (L, B)=a0+a1L+a2B+a3LB (model 1)
V (L, B)=a0+a1L+a2B+a3L2+a4B2(model 2)
V (L, B)=a0+a1L+a2B+a3L2+a4LB+a5B2(model 3)
V (L, B)=a0+a1L+a2B+a3L2+a4B2+a5L3+a6B3(model 4)
V (L, B)=a0+a1L+a2B+a3L2+a4LB+a5B2+a6L3+a7B3(model 5)
V (L, B)=a0+a1L+a2B+a3L2+a4LB+a5B2+a6L3+a7BL2+a8LB2+a9B3(model 6)
Wherein V represents relative surplus ephemeris error, and L, B represent longitude and latitude respectively, and a represents the parameter of surface model, Then
V=aH, a=(HTH)-1HTΔρ (7)
Remaining ephemeris after one-stop opposite correction elimination star clock error and ephemeris error are a large amount of in Δ ρ expression steps 1 misses Difference, Iterative Matrix H are corresponding with following several forms：

Claims (1)

1. a kind of star clock and ephemeris error based on low order surface model are with respect to correcting method, which is characterized in that including walking as follows Suddenly：
1) the one-stop correction of star clock error；True reference point is moved to the reference point of resolving and to the pseudorange error after migration It is corrected；
2) relative surplus ephemeris error establishes 6 kinds of low order surface models：
Model 1, V (L, B)=a0+a1L+a2B+a3LB
Model 2, V (L, B)=a0+a1L+a2B+a3L2+a4B2
Model 3, V (L, B)=a0+a1L+a2B+a3L2+a4LB+a5B2
Model 4, V (L, B)=a0+a1L+a2B+a3L2+a4B2+a5L3+a6B3
Model 5, V (L, B)=a0+a1L+a2B+a3L2+a4LB+a5B2+a6L3+a7B3
Model 6, V (L, B)=a0+a1L+a2B+a3L2+a4LB+a5B2+a6L3+a7BL2+a8LB2+a9B3
Wherein V represents relative surplus ephemeris error, and L, B represent longitude and latitude, a respectivelynRepresent the n-th of surface model parameter a Row, has
A=(HTH)-1HTΔρ (1)
Remaining ephemeris after one-stop opposite correction elimination star clock error and ephemeris error are a large amount of in Δ ρ expressions step 1) in formula misses Difference, the corresponding Iterative Matrix H of model have following 6 kinds of forms：
The line number of H is equal to difference station quantity in above formula；
The relative surplus ephemeris error of user position
V=aH (3)
Revised visual direction residual error
ε=Δ ρ-V (4)
3) surface model of visual direction residual error minimum is found out；By 6 equally distributed difference stations, Xi'an, Changchun, Shanghai, Urumchi, Sanya, Lhasa, establish surface model, after 9-49 ° of N and 74-138 ° of E grid points are corrected by surface model Visual direction residual error is showed with surface chart, finds out the surface model of visual direction residual error minimum；
4) surface model parameter is obtained by 6 or more difference stations in step 3), is missed using the visual direction remnants that step 3) obtains Formula (1) computation model parameter in poor minimum surface model and step 2)；
5) the surface model parameter obtained using step 4) is calculated the relative surplus ephemeris error of position and directly corrected； Formula (3) in the model parameter and step 2) that are obtained using step 4) calculates the relative surplus ephemeris error V of position, With Kalman filtering Preprocessing Algorithm, treated that pseudorange subtracts that star clock error that step 1) obtains subtracts relative surplus ephemeris again Error V obtains revised pseudorange；
6) by obtaining correction effect to 11 difference station optimization layouts；Xi'an, Changchun, Shanghai, Urumchi, 110 ° of Sanya E 1 difference station is respectively built in 17 ° of N, Lhasa, packet header, Keshen, Changsha, Kunming, Dongsha Islands, by optimizing to above-mentioned 11 difference stations Layout obtains correction effect.
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CN102890279A (en) * 2011-07-20 2013-01-23 中国科学院电子学研究所 Method for implementing precise nanosecond time synchronization by virtue of global positioning system

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CN102890279A (en) * 2011-07-20 2013-01-23 中国科学院电子学研究所 Method for implementing precise nanosecond time synchronization by virtue of global positioning system

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