CN106202877B - The error correction principle of the supper-fast clock deviation forecast of GPS IIR-M type satellite - Google Patents
The error correction principle of the supper-fast clock deviation forecast of GPS IIR-M type satellite Download PDFInfo
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- CN106202877B CN106202877B CN201610490121.8A CN201610490121A CN106202877B CN 106202877 B CN106202877 B CN 106202877B CN 201610490121 A CN201610490121 A CN 201610490121A CN 106202877 B CN106202877 B CN 106202877B
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Abstract
The invention proposes a kind of error correction principles of the supper-fast clock deviation prediction algorithm of navigation satellite, the principle high stability, for supper-fast clock deviation prediction algorithm, there are subtle systematic errors, the forecast precision of the effective lift scheme of energy, to improve the positioning accuracy of RTPPP indirectly, (1) for the supper-fast clock deviation forecast aspect of GPS IIR-M type, adjustment in accuracy can be carried out to the forecast result of any spectrum analysis model, to obtain higher forecast data；(2) under certain condition, any model has its forecast departure, therefore the present invention has certain reference value for other forecasting procedures.
Description
Technical field
The invention belongs to satellite navigation positioning technical fields, and in particular to a kind of supper-fast clock deviation of GPS IIR-M type satellite
The error correction principle of forecast.
Background technique
The realization of RTPPP (real time precise point positioning, real-time accurate One-Point Location) technology
Real-time clock deviation product and real-time track product is needed to provide data, and real-time clock (RTC) difference data product has real-time clock (RTC) difference data at present
Stream, broadcast clock deviation data and supper-fast clock deviation product, in which:
1, there is interruption and unstable characteristic in real-time clock (RTC) difference data stream
2, broadcast clock deviation Product Precision is not high
3, supper-fast clock deviation product stability is higher and moderate accuracy
Become research hotspot because supper-fast clock deviation product is stable and moderate accuracy the characteristics of, is defended so inventing a kind of navigate
The error correction principle of the supper-fast clock deviation forecast of star has certain value and meaning for improving RTPPP positioning accuracy.
Summary of the invention
For error existing for existing forecasting technique, it is pre- that the present invention provides a kind of supper-fast clock deviation of GPS IIR-M type satellite
The error correction principle of report.This method high stability, for supper-fast clock deviation prediction algorithm, there are subtle systematic error, energy
The forecast precision of effective lift scheme, to improve the positioning accuracy of RTPPP indirectly.
Realizing the technical solution of the object of the invention is:
A kind of error correcting method of the supper-fast clock deviation prediction algorithm of navigation satellite, includes the following steps:
1) the observation part (IGS Ultra-Rapid (observed), IGU-O) for reading supper-fast clock deviation product, contains 24
Hour data because primary every 15min publication, therefore amounts to 96 epoch data；Then using spectrum analysis model to GPS IIR-M
Type satellite (amounting to 7, respectively PRN05, PRN07, PRN12, PRN15, PRN17, PRN29 and PRN31) is successively built
Mould is simultaneously forecast 6 hours, therefore every satellite can obtain 24 forecast epoch clock deviation data；
2) 24 epoch data of forecast and the observation true value of next supper-fast clock deviation product documentation are made the difference, to obtain
Take forecast precision sequence of the current file under spectrum analysis model；
3) divided by 24 after summing to the forecast precision sequence of previous step, thus using the value as current file forecast data
Error correction values.Iteration forecasts 10 files according to the method, it can 10 error correction values is obtained, thus composition one
Error correction library；
4) for after generating an error correction values every time, adding it to mistake in the iteration forecasting process of subsequent file
It in difference amendment library, and rejects and generates time upper earliest error correction values, and moving and arranging is carried out to error amount in library, to reach
To the purpose in real-time update error correction library.Its mean value is asked to updated error correction library, as next file forecast
Error correction mean value；
5) error correction detailed process are as follows: error correction mean value obtained in the previous step is successively added to forecast precision sequence
1/10th, to obtain the forecast precision data after final error correction.
Through the above steps, the error of the supper-fast clock deviation prediction algorithm of navigation satellite can be modified.
In step 1), two kinds of expression formulas of spectrum analysis model are as follows:
Formula (1) is first-order linear straight line spectrum analysis model, and formula (2) is curve of order 2 spectrum analysis model.Wherein, a, b and c points
Not Wei clock deviation, clock rate and clock float parameter, N is the harmonic compoment item number (generally 1-3) that spectral analysis technology obtains, Ai、θiWithThe respectively amplitude, angle and phase of least square Sine-Fitting function, ψ (t) are clock deviation random entry ingredient.
In step 2), the calculation formula of forecast precision sequence is as follows:
Wherein, P is 24 epoch data sequences of spectrum analysis model prediction to A=P-IGUO (3), and IGUO is corresponding P sequence
The next IGU engraved when column
The observation Truth data of file, to obtain forecast precision sequence A；
The calculation formula for needing to calculate error correction values in step 3) is as follows:
Err=sum (A)/24 (4)
Error correction library is carried out seeking mean value formula in step 4) as follows:
Wherein ErriIndicate i-th of error correction values in error correction library, therefore M is equal for the error correction in error correction library
Value；
The formula of the forecast precision sequence progress error correction obtained in step 5) to step 2 is as follows:
A1=A+abs (M)/10 (6)
Therefore A1 is the final forecast precision sequence under error correction principle of the present invention.
The beneficial effects of the present invention are as follows:
The invention proposes a kind of error correction principle of the supper-fast clock deviation prediction algorithm of navigation satellite, the principle stability
It is higher, for supper-fast clock deviation prediction algorithm there are subtle systematic error, can effective lift scheme forecast precision, thus
The positioning accuracy of RTPPP is improved indirectly:
(1) adjustment in accuracy can be carried out to the forecast result of any spectrum analysis model, to obtain higher forecast data；
(2) under certain condition, there may be forecast departures for any model, therefore the present invention has other forecasting procedures
There is certain reference value.
Detailed description of the invention
Fig. 1 is PRN05 satellite alert precision curve graph
Fig. 2 is PRN07 satellite alert precision curve graph
Fig. 3 is PRN12 satellite alert precision curve graph
Fig. 4 is PRN15 satellite alert precision curve graph
Fig. 5 is PRN17 satellite alert precision curve graph
Fig. 6 is PRN29 satellite alert precision curve graph
Fig. 7 is PRN31 satellite alert precision curve graph
Specific embodiment
The content of present invention is further elaborated with reference to the accompanying drawings and examples, but is not limitation of the invention.
Embodiment:
The error correction principle of the supper-fast clock deviation prediction algorithm of navigation satellite, the following institute of the specific implementation step of the principle
Show:
A kind of error correction principle of the supper-fast clock deviation prediction algorithm of navigation satellite, includes the following steps:
1) the Modeling and Prediction data in 7 attached drawings are from ftp: the downloading of //cddis.gsfc.nasa.gov.cn network address, number
It is that (foundation in error correction library uses first to 19 IGU (IGS Ultra-Rapid, IGS is supper-fast) files according to download
Preceding 10 IGU files before IGU file distribution), 0 when IGU observes data publication Annual distribution range from 15 days 18 June in 2015
Point 0 second to 21 days 5 June when 45 everys minute ands second；
2) 7 attached drawings respectively correspond 7 satellites of GPS IIR-M type, and additive error known to from every width figure is modified pre-
Report precision curve under the forecast precision curve of corresponding model, i.e., additive error modification method can be with the forecast of lift scheme
Precision.In addition, each satellite alert 6 hours precision statistics table is as follows:
The supper-fast clock deviation of 1 GPS IIR-M type satellite of table forecasts 6 hours precision
| PRN05 | PRN07 | PRN12 | PRN15 | PRN17 | PRN29 | PRN31 | |
| P1 | 52.19% | 56.23% | 45.05% | 47.89% | 94.39% | 60.00% | 72.83% |
| PX1 | 51.31% | 53.45% | 57.51% | 46.05% | 88.50% | 59.73% | 71.79% |
| Enhancing rate | 1.69% | 4.95% | - 27.64% | 3.85% | 6.25% | 0.44% | 1.43% |
| P2 | 43.12% | 56.04% | 46.45% | 48.53% | 74.00% | 64.68% | 76.88% |
| PX2 | 41.69% | 53.88% | 45.05% | 46.99% | 71.97% | 63.67% | 76.51% |
| Enhancing rate | 3.31% | 3.86% | 3.02% | 3.17% | 2.75% | 1.55% | 0.48% |
(note: P1 is first-order spectrum analysis model, and PX1 is the first-order spectrum analysis model under error correction, and P2 is bispectral analysis
Model, PX2 are the bispectral analysis model under error correction)
3) by 1 available 7 IIR-M type satellite of table either in first-order spectrum analysis model or bispectral analysis mould
Type, using the first-order spectrum analysis model and bispectral analysis model of error correction principle of the present invention, forecast precision is relatively corresponding
Model increases, and directly confirms effectiveness of the invention and practicability.
Claims (4)
1. a kind of error correcting method of the supper-fast clock deviation prediction algorithm of navigation satellite, which comprises the steps of:
1) the observation part of supper-fast clock deviation product is read, 24 hour datas because primary every 15min publication, therefore amount to 96
Epoch data；Then GPS IIR-M type satellite is successively modeled and is forecast 6 hours using spectrum analysis model, therefore every
Satellite can obtain 24 forecast epoch clock deviation data；
2) 24 epoch data of forecast and the observation true value of next supper-fast clock deviation product documentation are made the difference, is worked as to obtain
Forecast precision sequence of the preceding document under spectrum analysis model；
3) divided by 24 after summing to the forecast precision sequence of previous step, thus using the value as the error of a file forecast data
Correction value, iteration forecasts ten files according to the method, it can 10 error correction values is obtained, thus one error of composition
Correct library；
4) error correction is added it to after generating an error correction values every time for the iteration forecasting process of subsequent file
It in library, and rejects and generates time upper earliest error correction values, and moving and arranging is carried out to error amount in library, to reach real-time
The purpose for updating error correction library seeks its mean value to updated error correction library, and the error of as next file forecast is repaired
Positive mean value；
5) error correction detailed process are as follows: the ten of error correction mean value obtained in the previous step are added to forecast precision sequence data
/ mono-, to obtain the forecast precision data after final error correction.
2. the error correcting method of the supper-fast clock deviation prediction algorithm of navigation satellite according to claim 1, which is characterized in that
In step 1), two kinds of expression formulas of spectrum analysis model are as follows:
Formula (1) is first-order linear straight line spectrum analysis model, and formula (2) is curve of order 2 spectrum analysis model, wherein a, b and c are respectively
Clock deviation, clock rate and clock float parameter, and N is the harmonic compoment item number that spectral analysis technology obtains, Ai、θiWithRespectively least square
Amplitude, angle and the phase of Sine-Fitting function, ψ (t) are clock deviation random entry ingredient.
3. the error correcting method of the supper-fast clock deviation prediction algorithm of navigation satellite according to claim 1, which is characterized in that
In step 2), the calculation formula of forecast precision sequence is as follows:
A=P-IGUO (3)
Wherein, P is 24 epoch data sequences of spectrum analysis model prediction, next IGU that IGUO is engraved when being corresponding P sequence
The observation Truth data of file, to obtain forecast precision sequence A.
4. the error correcting method of the supper-fast clock deviation prediction algorithm of navigation satellite according to claim 1, which is characterized in that
The calculation formula for needing to calculate error correction values in step 3) is as follows:
Err=sum (A)/24 (4)
Wherein A is forecast precision sequence,
Error correction library is carried out seeking mean value formula in step 4) as follows:
Wherein ErriIndicate i-th of error correction values in error correction library, therefore M is the error correction mean value in error correction library；
It is as follows to the formula of forecast precision sequence progress error correction in step 5):
A1=A+abs (M)/10 (6)
Therefore A1 is final supper-fast clock deviation forecast data.
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| CN107678048B (en) * | 2017-10-10 | 2021-01-15 | 唐山学院 | Pre-selection method of ultrafast clock error forecasting model of satellite clock |
| CN108107455A (en) * | 2017-10-30 | 2018-06-01 | 千寻位置网络（浙江）有限公司 | A kind of satellite clock correction Real-time Forecasting Method based on phase hit |
| CN108152842B (en) * | 2017-11-15 | 2019-11-19 | 羲和时空（武汉）网络科技有限公司 | Real-time track clock deviation product broadcasting method and system based on multisource data fusion |
| CN108229746B (en) * | 2018-01-08 | 2021-10-19 | 唐山学院 | Optimal correction method of polynomial forecasting model of satellite clock error data |
| CN108387915B (en) * | 2018-03-05 | 2021-06-01 | 中国人民解放军空军工程大学 | Fusion clock error forecasting method |
| CN111595331A (en) * | 2019-12-10 | 2020-08-28 | 上海航天控制技术研究所 | Clock model assisted inertial/satellite/relative ranging information combined navigation method |
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