CN106772472A - A kind of derivation doppler measurement building method for taking the jump of GNSS receiver clock into account - Google Patents
A kind of derivation doppler measurement building method for taking the jump of GNSS receiver clock into account Download PDFInfo
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- CN106772472A CN106772472A CN201611108578.4A CN201611108578A CN106772472A CN 106772472 A CN106772472 A CN 106772472A CN 201611108578 A CN201611108578 A CN 201611108578A CN 106772472 A CN106772472 A CN 106772472A
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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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- Computer Networks & Wireless Communication (AREA)
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Abstract
The invention discloses a kind of derivation doppler measurement building method for taking the jump of GNSS receiver clock into account, receiver clock-offsets are tried to achieve first with pseudorange One-Point Location, then inspected number is jumped using clock correction sequence structure clock, and carry out clock jump judgement, jumped if there is clock, modification receiver clock face sampling markers is allowed to corresponding with carrier phase observation data, finally derives doppler measurement using single order phase center calculus of finite differences construction.Method provided by the present invention, modification sampling markers by way of non-modified carrier phase observation data, so that carrier phase observation data and its real sampling markers are mapped, many unnecessary detection and reparation for cycle slips processes are effectively prevent, considerably improving construction derives execution efficiency, correctness and the reliability of doppler measurement.
Description
Technical field
The invention belongs to satellite navigation positioning technical field, and in particular to a kind of derivation for taking the jump of GNSS receiver clock into account is more
General Le observation building method.
Background technology
Speed and acceleration are the important parameters for characterizing object moving state, and the high accuracy that appears as of GNSS obtains motion load
The movement velocity and acceleration of body provide new means, generally using the motion speed of doppler measurement direct solution carrier
Degree/acceleration., it is necessary to GNSS receiver can export doppler measurement when being solved using the method, but in actual applications,
Not all of GNSS receiver can export original doppler measurement, for that can not export original doppler measurement
GNSS receiver, then need to construct doppler measurement using carrier phase observation data, derivation is referred to as in the present invention how general
Strangle observation.
Construction derives doppler measurement needs to use carrier phase observation data and its corresponding markers, and carrier wave phase
The markers of position observation is that the frequency marking used by receiver is provided, and the quartz inside receiver is usually due to the frequency marking and is shaken
Device generation is swung, its concussion frequency is easily affected by environment, and clock drift is larger, therefore, with the carrying out of observation, the clock correction of receiver can be by
Gradually drift about.And simultaneously in order to keep receiver markers and GNSS system time synchronized (usually 1ms), most receivers are all used
Periodic clock jump is inserted to be controlled.
Receiver clock is jumped and produces the influence similar with cycle slip to carrier phase observation data so that data jump, usual way
It is to jump clock to be detected and repaired as cycle slip, the continuous carrier carrier phase observable interpolation clock before occurring such as is jumped using clock and is jumped
There is the carrier phase observation data at moment, and then correct construction derives doppler measurement.This mode will cause clock jump
All satellites at moment are all judged as cycle slip, and then needs carry out cycle slip fixing to every satellite, thereby produce perhaps
More unnecessary detection and reparation for cycle slips process, have impact on the execution efficiency of method.
The content of the invention
In order to solve the above-mentioned technical problem, the invention provides a kind of derivation Doppler sight for taking the jump of GNSS receiver clock into account
Measured value building method.
The technical solution adopted in the present invention is：A kind of derivation doppler measurement construction for taking the jump of GNSS receiver clock into account
Method, it is characterised in that comprise the following steps：
Step 1：Receive GNSS original observed datas and broadcast ephemeris；
Step 2：Receiver clock-offsets are tried to achieve using pseudorange One-Point Location；
Step 3：Inspected number is jumped using clock correction sequence structure clock；
Step 4：Carry out clock and jump judgement；
If clock jumps inspected number is more than threshold value, illustrate there is clock jump, then perform step 5；
If clock is jumped inspected number and is less than or equal to threshold value, illustrate to be jumped in the absence of clock, then perform step 6；
Step 5：Modification receiver clock face sampling markers is allowed to corresponding with carrier phase observation data；
Step 6：Doppler measurement is derived using single order phase center calculus of finite differences construction.
Advantages of the present invention and beneficial effect are：
The present invention is modification sampling markers by way of non-modified carrier phase observation data so that carrier phase observation data
It is mapped with its real sampling markers, effectively prevent many unnecessary detection and reparation for cycle slips processes, is significantly carried
Construction high derives execution efficiency, correctness and the reliability of doppler measurement.This patent comes from earthquake section of China Seismology Bureau
Skill sparking plan brainstorm project (XH16053)：The earthquake real time monitoring technique study of joint high frequency GNSS and strong-motion instrument.
Brief description of the drawings
Fig. 1 is the flow chart of the embodiment of the present invention；
Fig. 2 is the clock correction result sequence chart of survey station METS in the embodiment of the present invention 1；
Fig. 3 is that the clock of survey station METS in the embodiment of the present invention 1 jumps result sequence chart；
Fig. 4 is the rate results sequence chart of survey station METS in the embodiment of the present invention 1；
Fig. 5 is the acceleration result sequence chart of survey station METS in the embodiment of the present invention 1；
Fig. 6 is the clock correction result sequence chart of airborne experiment in the embodiment of the present invention 2；
Fig. 7 is that the clock of airborne experiment in the embodiment of the present invention 2 jumps result sequence chart；
Fig. 8 is the rate results sequence chart of airborne experiment in the embodiment of the present invention 2；
Fig. 9 is the acceleration result sequence chart of airborne experiment in the embodiment of the present invention 2；
Specific embodiment
Understand for the ease of those of ordinary skill in the art and implement the present invention, below in conjunction with the accompanying drawings and embodiment is to this hair
It is bright to be described in further detail, it will be appreciated that implementation example described herein is merely to illustrate and explain the present invention, not
For limiting the present invention.
Embodiment 1：Static simulation dynamic experiment.
Choose the METS station conducts in IGS (International GNSS Service, international GNSS services) observational network
Example illustrates object.For static observation data, on theory significance, there is true value in its speed and acceleration, as " 0 ", will
Result compares with it, can be used as evaluating the inventive method effect.
Fig. 1 shows the derivation doppler measurement building method flow for taking the jump of GNSS receiver clock into account of present invention announcement
Figure, the method is comprised the following steps：
A () receives observation data and the broadcast ephemeris such as GNSS pseudoranges, carrier phase；
In this step, METS stations 2011-04-10 (year days of year are downloaded：100) original observed data and broadcast ephemeris, number
It is 1Hz according to sample rate, selected data time range is from 00:00:00 to 02:00:00,7200 seconds altogether, in case follow-up solution is surveyed
Used when speed of standing and acceleration.
B () increases pseudorange One-Point Location process before construction derives doppler measurement, try to achieve receiver clock-offsets；
In this step, carry out being calculated by epoch standard One-Point Location using pseudorange, obtain clock correction sequence results δ ti(i=
1,2 ..., 7200), as shown in Figure 2.
C () clock correction sequence makes the difference tries to achieve clock jump value, and judges that clock jump whether there is, ti+1The clock at moment jumps inspected number TCR_i+1
For：
TCR_i+1=| (δ ti+1-δti-1) | i=2,3 ..., 7199 (1)
Wherein, tiIt is by the receiver clock face sampling instant of order from front to back, δ tiIt is connecing for corresponding clock face sampling instant
Receipts machine clock correction, round () is the function that rounds up, if TCR_i+1>=0.5ms, is considered as ti+1Generation clock is jumped, and Fig. 3 is
The clock at METS stations jumps situation, it is known that the station occurred a clock every 6~7 minutes and jumps, and clock is jumped more frequent.Clock jump value is：
τCR_i+1=round (δ ti+1-δti-1) i=2,3 ..., 7199 (2)
If (d) ti+1Generation clock is jumped, and modification receiver clock face sampling markers is allowed to corresponding with carrier phase observation data：
ti+1_new=ti+1-τCR_i+1I=2,3 ..., 7199 (3)
E () finally derives doppler measurement using single order phase center calculus of finite differences construction：
Wherein,WithIt is that receiver connects the carrier phase observation data that clock face sampling instant is received.Need explanation
Be ti+1Generation clock is jumped, what the reception was arrivedIt is in factUsing the derivation doppler measurement for obtaining
Speed, acceleration can be carried out to solve.It is larger in view of two hour data amounts, the METS survey station speed of 2 minutes has only been intercepted in Fig. 4
As a result, the METS survey station acceleration results of 2 minutes have only been intercepted in Fig. 5.In figure, empty astragal is not consider structure under the influence of clock jump
Making derives doppler measurement and test the speed the result of measuring acceleration, it is known that jump moment related speed, acceleration result to clock
Abnormal saltus step is occurred in that, is not inconsistent with actual conditions；Asterism line is the inventive method acquired results, it is known that it is related to jump the moment to clock
Speed, acceleration result remain unchanged normally, in " 0 " neighbouring position, thus illustrate that the inventive method is largely effective.
Embodiment 2：The airborne experiment of dynamic.
Choose the gps data that certain aviation Lidar measurement experiments are gathered to be analyzed, connect using TRIMBLE4000SSI
Receipts machine, data sampling rate is 1Hz, data duration amount to 3 hours 50 points, contain the process taken off, fly and land.
Calculated according to the inventive method step shown in Fig. 1：
A () receives observation data and the broadcast ephemeris such as GNSS pseudoranges, carrier phase.
B () carries out being calculated by epoch standard One-Point Location using pseudorange, obtain clock correction sequence results, as shown in Figure 6.
C () jumps inspected number T using clock correction sequence structure clockCR, work as TCRDuring >=0.5ms, it is considered as the presence of clock jump, Fig. 7 is this
The clock of airborne experiment jumps situation, it is known that clock is jumped to be occurred before taking off, in-flight with after landing, is had at 6, is often located clock and is jumped
It is worth for -1ms.
D () is allowed to relative with carrier phase observation data for there is the moment that clock is jumped, modification receiver clock face sampling markers
Should.
E () derives doppler measurement using single order phase center calculus of finite differences construction, then carry out speed and acceleration is asked
Solution.
It is larger in view of data volume, the rate results before and after clock is jumped at the C in aircraft flight are only intercepted in Fig. 8, in Fig. 9
The acceleration result before and after clock is jumped at the C in aircraft flight is only intercepted.In figure, empty astragal is not consider structure under the influence of clock jump
Making derives doppler measurement and test the speed the result of measuring acceleration, it is known that jump moment related speed, acceleration result to clock
Abnormal saltus step is occurred in that, is not inconsistent with actual conditions；Asterism line is the inventive method acquired results, it is known that it is related to jump the moment to clock
Speed, acceleration result remain unchanged normally, thus illustrate the inventive method it is also largely effective to dynamic data.
It should be appreciated that the part that this specification is not elaborated belongs to prior art.
It should be appreciated that the above-mentioned description for preferred embodiment is more detailed, therefore can not be considered to this
The limitation of invention patent protection scope, one of ordinary skill in the art is not departing from power of the present invention under enlightenment of the invention
Profit requires under protected ambit, can also make replacement or deform, each falls within protection scope of the present invention, this hair
It is bright scope is claimed to be determined by the appended claims.
Claims (4)
1. it is a kind of to take the derivation doppler measurement building method that GNSS receiver clock is jumped into account, it is characterised in that including following step
Suddenly：
Step 1：Receive GNSS original observed datas and broadcast ephemeris；
Step 2：Receiver clock-offsets are tried to achieve using pseudorange One-Point Location；
Step 3：Inspected number is jumped using clock correction sequence structure clock；
Step 4：Carry out clock and jump judgement；
If clock jumps inspected number is more than threshold value, illustrate there is clock jump, then perform step 5；
If clock is jumped inspected number and is less than or equal to threshold value, illustrate to be jumped in the absence of clock, then perform step 6；
Step 5：Modification receiver clock face sampling markers is allowed to corresponding with carrier phase observation data；
Step 6：Doppler measurement is derived using single order phase center calculus of finite differences construction.
2. it is according to claim 1 to take the derivation doppler measurement building method that GNSS receiver clock is jumped, its feature into account
It is：In step 4, t is constructed firsti+1The clock at moment jumps inspected number TCR_i+1；
TCR_i+1=| (δ ti+1-δti-1) | i=2,3 ... n-1；
Wherein, n is the epoch sum of observation, tiIt is by the receiver clock face sampling instant of order from front to back, δ tiIt is corresponding clock
The receiver clock-offsets at surface sample moment；
If TCR_i+1>=0.5ms, is considered as ti+1Generation clock is jumped, and clock jump value is：
τCR_i+1=round (δ ti+1-δti-1) i=2,3 ... n-1；
Wherein, round () is the function that rounds up.
3. it is according to claim 2 to take the derivation doppler measurement building method that GNSS receiver clock is jumped, its feature into account
It is：In step 5, if ti+1There is clock and jump in the moment, modification receiver clock face sampling markers is allowed to and carrier phase observation data phase
Correspondence, is expressed as：
ti+1_new=ti+1-τCR_i+1I=2,3 ... n-1.
4. it is according to claim 3 to take the derivation doppler measurement building method that GNSS receiver clock is jumped, its feature into account
It is：In step 6, doppler measurement is derived using single order phase center calculus of finite differences construction, be expressed as：
Wherein,WithIt is that receiver connects the carrier phase observation data that clock face sampling instant is received；It should be noted that
ti+1Generation clock is jumped, what the reception was arrivedIt is in fact
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108919313A (en) * | 2018-04-16 | 2018-11-30 | 中国矿业大学 | Utilize the GNSS doppler measurement generation method of optimum value derivative |
| CN109444935A (en) * | 2018-10-17 | 2019-03-08 | 桂林电子科技大学 | A kind of Doppler's detection and reparation for cycle slips method of low sampling rate |
| CN110856249A (en) * | 2018-07-27 | 2020-02-28 | 中移物联网有限公司 | Positioning method, device and storage medium based on base station |
| CN111025336A (en) * | 2019-11-26 | 2020-04-17 | 西安空间无线电技术研究所 | Multi-satellite non-Gaussian carrier Doppler anomaly detection and elimination method |
| CN113093250A (en) * | 2021-06-04 | 2021-07-09 | 腾讯科技（深圳）有限公司 | Pseudo-range observation data restoration method, positioning information determination method and device |
| CN115598676A (en) * | 2022-10-17 | 2023-01-13 | 北京航天飞行控制中心（Cn） | Satellite-borne multimode GNSS fusion precise orbit determination method and device |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108919313A (en) * | 2018-04-16 | 2018-11-30 | 中国矿业大学 | Utilize the GNSS doppler measurement generation method of optimum value derivative |
| CN110856249A (en) * | 2018-07-27 | 2020-02-28 | 中移物联网有限公司 | Positioning method, device and storage medium based on base station |
| CN110856249B (en) * | 2018-07-27 | 2022-03-04 | 中移物联网有限公司 | Positioning method, device and storage medium based on base station |
| CN109444935A (en) * | 2018-10-17 | 2019-03-08 | 桂林电子科技大学 | A kind of Doppler's detection and reparation for cycle slips method of low sampling rate |
| CN109444935B (en) * | 2018-10-17 | 2022-10-21 | 桂林电子科技大学 | Doppler cycle slip detection and restoration method with low sampling rate |
| CN111025336A (en) * | 2019-11-26 | 2020-04-17 | 西安空间无线电技术研究所 | Multi-satellite non-Gaussian carrier Doppler anomaly detection and elimination method |
| CN113093250A (en) * | 2021-06-04 | 2021-07-09 | 腾讯科技（深圳）有限公司 | Pseudo-range observation data restoration method, positioning information determination method and device |
| CN113093250B (en) * | 2021-06-04 | 2021-08-27 | 腾讯科技（深圳）有限公司 | Pseudo-range observation data restoration method, positioning information determination method and device |
| CN115598676A (en) * | 2022-10-17 | 2023-01-13 | 北京航天飞行控制中心（Cn） | Satellite-borne multimode GNSS fusion precise orbit determination method and device |
| CN115598676B (en) * | 2022-10-17 | 2023-05-05 | 北京航天飞行控制中心 | Satellite-borne multimode GNSS fusion precise orbit determination method and device |
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