CN107037463B - A kind of integrated positioning time service method of ground long wave time service system and GNSS system - Google Patents
A kind of integrated positioning time service method of ground long wave time service system and GNSS system Download PDFInfo
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- CN107037463B CN107037463B CN201710299130.3A CN201710299130A CN107037463B CN 107037463 B CN107037463 B CN 107037463B CN 201710299130 A CN201710299130 A CN 201710299130A CN 107037463 B CN107037463 B CN 107037463B
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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
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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
-
- 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
- G04R20/08—Setting the time according to the time information carried or implied by the radio signal the radio signal being broadcast from a long-wave call sign, e.g. DCF77, JJY40, JJY60, MSF60 or WWVB
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Electric Clocks (AREA)
Abstract
The present invention provides the integrated positioning time service methods of a kind of ground long wave time service system and GNSS system, there is the place for comparing link to place a GNSS timing receiver at national time service center or with UTC (NTSC), calculates the time difference of UTC (NTSC) and satellite；The time difference data of satellite and UTC (NTSC) is modeled using an order polynomial or quadratic polynomial, according to the setting period, issues the time difference model parameter of GNSS satellite and UTC (NTSC) to user by network；User access network downloads the time difference model parameter of GNSS satellite and UTC (NTSC), restores the time difference by time difference model and substitutes into integrated positioning time service equation group, realizes that integrated positioning and time service resolve by solve system of equation.The present invention realizes integration positioning, time service in the case where being increased without extra cost, improves the reliability and validity of entire combined system.
Description
Technical field
The present invention relates to a kind of positioning time service methods.
Background technique
GNSS (Global Navigation Satellite System) satellite navigation system is that current industry is generally acknowledged
In high precision, the satellite based navigational system of high reliability provides positioning, time service service in the defense military of various countries and national product.
But the technical characteristic based on GNSS navigation system, they are highly prone to interfere and block.It is therefore desirable to have other navigation system
It is assisted to improve the availability of GNSS system and reliability.Ground long wave time service system and the technical characteristic of GNSS system are just
Good complementation, can be summarized as " three-lows " to " three high ": continental rise is to star base, low frequency to high frequency, high RST level to low-signal levels.
The technical characteristic of long wave time service system makes it have very strong anti-interference ability and the high diffracting power to big building, this is just
Compensate for the deficiency of GNSS system.Long wave time service system and GNSS integrated positioning, time service advantage be embodied in GNSS system by
When interfering and blocking, the transmitting station of long wave time service system can be effectively improved the DOP of system as the pseudo satellite, pseudolite of GNSS system
Value, the availability and reliability of lifting system.
The long wave time service system of industry research at present and the integrated positioning time service method of GNSS system are based on hyperbolic mostly
Line positioning principle, but there is " unusual " phenomenon when base-line extension is positioned about in hyperbola positioning method, cause to position
Disabler.Some scholars use the localization method similar to GNSS single system, longwave transmissions platform as a pseudo satellite, pseudolite,
The time difference between receiver and longwave transmissions platform in long wave time service system pseudorange equation passes through receiver and GNSS system time
Between the time difference, longwave transmissions platform and time difference between the GNSS system time calculate indirectly, but to obtain longwave transmissions platform
The time difference between each GNSS system time is extremely difficult, needs to build special time comparison link to carry out time difference prison
It surveys, and other GNSS systems are all external navigation system other than dipper system, it is high to build time comparison link cost
It is high.It all cannot be directly universal time UTC (Coordinated in addition, being combined time service based on the above method
Universal Time) broadcast is to user.Therefore, it is necessary to improve the integrated positioning of existing long wave time service system and GNSS system
Time service method avoids drawbacks described above.
Summary of the invention
For overcome the deficiencies in the prior art, the combination of ground long wave time service system provided by the invention and GNSS system is fixed
Position time service method, using the time difference between navigation satellite and China standard time UTC (NTSC) as the interoperability bridge of two systems
The pseudorange equation of beam, satellite and long wave system is all with UTC (NTSC) for benchmark reference point, direct solution integrated positioning time service one
Change the time difference and receiver location coordinate of the receiver relative to UTC (NTSC), directly can carry out me to user while positioning
The time service of national standard time UTC (NTSC).The inherently national standard time of the BPL long wave time service system broadcast in China, because
This does not need to build additional time comparison link.In addition, in great infrastructure construction " 13 " planning of country, China,
High-precision ground time dissemination system is important foundation project to be built, after building up to the project, it will has more long waves to send out
Platform is penetrated for integrated positioning time service.
The technical solution adopted by the present invention to solve the technical problems the following steps are included:
1) place for comparing link places a GNSS timing receipt at national time service center or with UTC (NTSC)
Machine passes through ρi=ri+c·δtu-i+εiCalculate the time difference δ t of UTC (NTSC) and satelliteu-i, wherein i is satellite number, ρiIt is i-th
The pseudorange of satellite, riFor i-th satellite to the geometric distance of the GNSS timing receiver, c is the light velocity, εiFor i-th satellite
Other error correction items, including ionosphere delay and tropospheric delay；If GNSS timing receiver is placed in national time service
Center, then δ tu-iThe time difference T of as satellite i and UTC (NTSC)si-UTC；If GNSS timing receiver is placed in and UTC
(NTSC) there is the place for comparing link, then Tsi-UTC=δ tu-i+ Td, Td are UTC (NTSC) and GNSS timing receiver location
The time difference；
2) GNSS satellite and the time difference data of UTC (NTSC) are built using an order polynomial or quadratic polynomial
Mould, time difference model are expressed as Tsi-UTC=a+b (t-t0)+c·(t-t0)2, time difference model parameter includes constant term a, first order
Parameter b, quadratic term parameter c and model starting point t0；
3) according to the setting period, the time difference model parameter of GNSS satellite and UTC (NTSC) is issued to user by network；
4) time difference model parameter of user access network downloading GNSS satellite and UTC (NTSC), is restored by time difference model
Time difference Tsi-UTC；
5) by time difference Tsi-UTCSubstitute into integrated positioning time service equation group
Realize that integrated positioning and time service resolve by solve system of equation；Wherein, ρiIt indicates between user and i-th satellite
Pseudorange；(xr, yr, zr) is user terminal integrated positioning time service integrated receiver coordinate；δu-UTCFor user and UTC (NTSC) when
Difference；For the position coordinates of i-th satellite；K is the ground long wave time service system that user terminal can receive
Corresponding longwave transmissions platform number；PkFor the pseudorange of longwave transmissions platform to user；δ0kIt is receiver between longwave transmissions platform
Spherical angle is away from δskIt is spherical angle away from the correction amount for arriving ellipsoid angular distance；Ttk-UTCFor the time difference of longwave transmissions platform and UTC (NTSC).
The beneficial effects of the present invention are: proposing to make with the time difference between navigation satellite and China standard time UTC (NTSC)
For the bridge of ground long wave time service system and GNSS satellite navigation system interoperability, user can obtain while integrated positioning
China standard time UTC (NTSC) realizes integration positioning, time service in the case where being increased without extra cost.The present invention
On the one hand the integrated positioning time service method mentioned avoids the limitation of single GNSS system positioning, time service, improve entire group
The reliability and validity of collaboration system.On the other hand, integrated positioning time service algorithm navigation satellite of the present invention is pseudo-
Pseudorange observation equation away from observational equation and ground long wave time service system carries out positioning calculation together, avoids traditional Loran
The phenomenon that " unusual " phenomenon of hyperbola integrated positioning algorithm, i.e. positioning equation group are without solution further improves the available of system
Property.In addition, the mentioned integrated positioning time service method of the present invention require no knowledge about between longwave transmissions platform and GNSS system time when
Difference, also avoiding building the special time compares link and bring valuableness expense.
Detailed description of the invention
Fig. 1 is GNSS satellite and time difference monitoring, the modeling, Web Publishing device connection diagram of UTC (NTSC)；
Fig. 2 is user's integrated positioning time service flow chart；
Fig. 3 is to block the combination of Xi'an region dual system and Beidou single system GDOP comparison diagram under environment；
Fig. 4 is to block dual system combination and Beidou single system position error comparison diagram under environment.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples, and the present invention includes but are not limited to following implementations
Example.
The present invention the following steps are included:
1) place for comparing link places a GNSS timing receipt at national time service center or with UTC (NTSC)
Machine monitors the time difference T of GNSS satellite and UTC (NTSC)si-UTC.Pass through ρi=ri+c·δtu-i+εiCalculate user and satellite when
Poor δ tu-i, wherein i is satellite number, ρiFor the pseudorange of i-th satellite, riFor satellite to the geometric distance between user, c is light
Speed, εiFor other error correction items, including ionosphere delay, tropospheric delay, can be solved by common model.If fixed
When receiver be placed in national time service center, then δ tu-iThe time difference T of as satellite i and UTC (NTSC)si-UTC.If timing receipt
Machine is placed in other places for having with UTC (NTSC) and comparing link, then Tsi-UTC=δ tu-i+ Td, Td are UTC (NTSC) and timing
The time difference in receiver location is obtained by existing comparison link；
2) GNSS satellite and the time difference data of UTC (NTSC) are modeled, by modeling the number for reducing and transmitting to user
According to amount.Due to the substantially linear characteristic of the time difference between satellite and UTC, using a common order polynomial or secondary more
Item formula is modeled, and model can be expressed as Tsi-UTC=a+b (t-t0)+c·(t-t0)2, a is constant term, and b is primary
Item parameter, c are quadratic term parameter, t0For model starting point, model parameter can carry out more by using common least square method
Item formula fitting obtains；
3) joined by Internet network or dedicated network to the time difference model that user issues GNSS satellite and UTC (NTSC)
Number, since the time difference model between satellite and UTC is more stable, the model parameter update cycle can be set to half an hour or more
It is long；
4) as long as user terminal access Internet network or private network can download the when differential mode of GNSS satellite Yu UTC (NTSC)
Shape parameter passes through model formation Tsi-UTC=a+b (t-t0)+c·(t-t0)2User's reduction calculates the GNSS in step (1)
The time difference of satellite and UTC (NTSC).Time difference model is sent compared with sending time difference data to user to user, greatly reduces biography
Defeated data volume；
5) GNSS satellite and the time difference value of UTC (NTSC) are substituted into integrated positioning time service equation group by user terminalCan be realized integrated positioning and
Time service resolves.In equation group, first equation is the pseudorange observation equation of GNSS system, and second equation is that ground long wave is awarded
When system pseudorange observation equation.ρiIndicate that the pseudorange between user and satellite, N are satellites in view number, (xr, yr, zr) is
User terminal integrated positioning time service integrated receiver coordinate, for amount to be asked.δu-UTCFor the time difference of user and UTC (NTSC), also for
Amount to be asked.For the position coordinates of i-th satellite.K is the ground long-wave time service that user terminal can receive
The corresponding longwave transmissions platform number of system, PkFor the pseudorange of longwave transmissions platform to user, M is the number of longwave transmissions platform, δ0kFor
Receiver is to the spherical angle between longwave transmissions platform away from δskIt is spherical angle away from the correction amount for arriving ellipsoid angular distance.δ0kAnd δskAll it is
About the function of receiver coordinate (xr, yr, zr), can be obtained by simple mathematical calculations.Ttk-UTCFor longwave transmissions platform with
The time difference of UTC (NTSC), is known quantity, issues each longwave transmissions platform and UTC (NTSC) in Internet network in advance
Time difference result.
The embodiment of the present invention includes the following steps that for a user, step 1 to step 5 does not need to execute, only
Step 6 is needed to be implemented to step 8.In addition, step 5 and step 7 only need to be implemented once, do not need to repeat, if step 5
Or step 7 has run succeeded, then can skip the step, directly performs the next step rapid.
Step 1. gets out the equipment such as GNSS receiver, industrial personal computer, pulse distribution amplifier, frequency distribution amplifier,
Build the time difference T of GNSS satellite Yu UTC (NTSC) in national time service centersi-UTCThe antenna of monitoring system, GNSS receiver is placed in
In observation point known to coordinate；
Step 2. industrial personal computer acquires the pseudorange and satellite position data of GNSS receiver in real time, passes through ρi=ri+c·δtu-i+
εiCalculate the time difference δ t of user and satelliteu-i, wherein i is satellite number, ρiFor the pseudorange of i-th satellite, riFor satellite to user
Between geometric distance, can be calculated in real time according to satellite position, c is the light velocity, εiFor other error correction items, including ionization
Layer delay and tropospheric delay, can be solved by common model.Since GNSS receiver is placed in national time service center, then
δtu-iThe time difference T of as satellite i and UTC (NTSC)si-UTC；
Step 3. models GNSS satellite and the time difference data of UTC (NTSC) on industrial personal computer, using secondary model
Tsi-UTC=a+b (t-t0)+c·(t-t0)2, a is constant term, and b is first order parameter, and c is quadratic term parameter, t0It is risen for model
Point can calculate each model parameter using least square method；
Step 4. industrial personal computer issues the time difference of GNSS satellite and UTC (NTSC) by Internet network or private network to user
Model parameter；
Step 5. industrial personal computer issues each longwave transmissions platform and UTC (NTSC) to user by Internet network or private network
Time difference result；
Step 6. user downloads the time difference model parameter of GNSS satellite and UTC (NTSC) from Internet network or private network,
And pass through formula Tsi-UTC=a+b (t-t0)+c·(t-t0)2Calculate the time difference of GNSS satellite and UTC (NTSC)；
Step 7. user downloads the when difference of each longwave transmissions platform and UTC (NTSC) from Internet network or private network
According to；
Step 8. user is GNSS satellite and the time difference value of UTC (NTSC) and the time difference of longwave transmissions platform and UTC (NTSC)
Value substitutes into integrated positioning time service equation group, is combined positioning and time service resolves.
In equation group, (xr, yr, zr) is user terminal integrated positioning time service integrated receiver coordinate, for amount to be asked.
δu-UTCIt is also amount to be asked for the time difference of user and UTC (NTSC).For the position coordinates of i-th satellite, lead to
Cross that resolve to satellite ephemeris can be in the hope of.ρiIndicate that the pseudorange between user and satellite, N are satellites in view number.K is to use
The corresponding longwave transmissions platform number of the ground long wave time service system that family end can receive, PkFor the puppet of longwave transmissions platform to user
Away from M is the number of longwave transmissions platform, δ0kFor receiver to the spherical angle between longwave transmissions platform away from δskIt is ellipse away from arriving for spherical angle
Spherical angle away from correction amount.δ0kAnd δskAll it is the function about receiver coordinate (xr, yr, zr), is by simple mathematical calculations
It can get.Ttk-UTCFor the time difference of longwave transmissions platform and UTC (NTSC), obtain in step 7.Tsi-UTCFor satellite and UTC
(NTSC) it the time difference, obtains in step 6.
From above-mentioned implementation steps it is found that the ground long wave time service system of the invention mentioned and the integrated positioning of GNSS system are awarded
The implementation process of Shi Fangfa mainly includes the time difference monitoring of GNSS satellite and UTC (NTSC), determines two big portions of combination bit time service resolving
Point.The monitoring of the time difference of GNSS satellite and UTC (NTSC) belongs to system-level action, and user class only needs to carry out GNSS satellite
Downloading, parsing and integrated positioning time service with the time difference model parameter of UTC (NTSC) resolve.
As can be seen from the above embodiments, of the invention to be mainly characterized by a navigation satellite and China's standard time UTC
(NTSC) interoperability parameter of the time difference as ground long wave time service system and GNSS satellite navigation system between, satellite and long wave
All with UTC (NTSC) for benchmark reference point, user is directly combined positioning time service integration and resolves the pseudorange equation of system.This
It invents proposed method and needs to carry out the monitoring of the time difference between satellite and UTC (NTSC), but monitoring method and monitoring process are simple,
Monitoring device only needs GNSS receiver, industrial personal computer and some ancillary equipments, monitoring cost lower.But the present invention is relative to tradition
Combined positioning method, further improve the availability of system, also avoid building longwave transmissions platform and GNSS system time
Comparison link and bring valuableness expense.Most of all, the present invention is while positioning national standard time UTC
(NTSC) user is authorized, is positioning, the integrated method of time service, and do not need additional cost overhead, it can also be quick, convenient
Ground is promoted the use of, and has preferable development prospect and application prospect.
Claims (1)
1. the integrated positioning time service method of a kind of ground long wave time service system and GNSS system, it is characterised in that including following steps
It is rapid:
1) there is the place for comparing link to place a GNSS timing receiver at national time service center or with UTC (NTSC), lead to
Cross ρi=ri+c·δtu-i+εiCalculate the time difference δ t of UTC (NTSC) and satelliteu-i, wherein i is satellite number, ρiFor i-th satellite
Pseudorange, riFor i-th satellite to the geometric distance of the GNSS timing receiver, c is the light velocity, εiFor the other of i-th satellite
Error correction item, including ionosphere delay and tropospheric delay；If GNSS timing receiver is placed in national time service center,
δtu-iThe time difference T of as satellite i and UTC (NTSC)si-UTC；If GNSS timing receiver, which is placed in, has comparison with UTC (NTSC)
The place of link, then Tsi-UTC=δ tu-i+ Td, Td are the time difference of UTC (NTSC) and GNSS timing receiver location；
2) GNSS satellite and the time difference data of UTC (NTSC) are modeled using an order polynomial or quadratic polynomial, when
Differential mode type is expressed as Tsi-UTC=a+b (t-t0)+c·(t-t0)2, time difference model parameter include constant term a, first order parameter b,
Quadratic term parameter c and model starting point t0；
3) according to the setting period, the time difference model parameter of GNSS satellite and UTC (NTSC) is issued to user by network；
4) time difference model parameter of user access network downloading GNSS satellite and UTC (NTSC) restores the time difference by time difference model
Tsi-UTC；
5) by time difference Tsi-UTCSubstitute into integrated positioning time service equation group
Realize that integrated positioning and time service resolve by solve system of equation；Wherein, ρiIndicate the pseudorange between user and i-th satellite；
(xr, yr, zr) is user terminal integrated positioning time service integrated receiver coordinate；δu-UTCFor the time difference of user and UTC (NTSC)；For the position coordinates of i-th satellite；K is the ground long wave time service system pair that user terminal can receive
The longwave transmissions platform number answered；PkFor the pseudorange of longwave transmissions platform to user；δ0kFor receiver to the ball between longwave transmissions platform
Face angle is away from δskIt is spherical angle away from the correction amount for arriving ellipsoid angular distance；Ttk-UTCFor the time difference of longwave transmissions platform and UTC (NTSC).
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| CN108680937A (en) * | 2018-05-17 | 2018-10-19 | 安徽理工大学 | A kind of satellite selection method of novel multisystem GNSS base networks |
| CN108536003A (en) * | 2018-05-24 | 2018-09-14 | 千寻位置网络有限公司 | Accurate time transmission system and method and time service service system |
| CN109738912B (en) * | 2018-11-27 | 2020-09-11 | 中国科学院光电研究院 | Method for realizing fixed point time service based on GNSS satellite signals |
| CN113467221B (en) * | 2021-07-13 | 2022-08-19 | 湖南国科微电子股份有限公司 | Satellite navigation time service method, system and related components |
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