CN108107455A - A kind of satellite clock correction Real-time Forecasting Method based on phase hit - Google Patents
A kind of satellite clock correction Real-time Forecasting Method based on phase hit Download PDFInfo
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- CN108107455A CN108107455A CN201711030935.4A CN201711030935A CN108107455A CN 108107455 A CN108107455 A CN 108107455A CN 201711030935 A CN201711030935 A CN 201711030935A CN 108107455 A CN108107455 A CN 108107455A
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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
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
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Abstract
The present invention relates to a kind of satellite clock correction Real-time Forecasting Methods based on phase hit, obtain original satellite clock correction data sequence, pretreatment, satellite clock correction phase sequence carries out fitting of a polynomial to treated, removes the periodic term of phase sequence, digital simulation precision；Fitting precision is less than threshold value, forecasts satellite clock correction, terminates, if more than threshold value, look-in frequency exceptional value from back to front, several data before and after acquisition, if exception is not present for frequency and data are steady, then forecast satellite clock correction, terminate, if frequency anomaly and/or data there are saltus step, using the clock correction data after saltus step, it forecasts satellite clock correction, terminates.The present invention takes into full account the frequency stability of atomic clock and frequency drift characteristic, order selection is carried out to GPS, GLONASS, BDS, Galileo respectively, applied to the real-time clock correction forecast of satellite-based augmentation system, forecast that clock correction is reliable and stable, clock correction error precision in the SSR correcting informations broadcast is improved, improves Terminal location services precision.
Description
Technical field
The invention belongs to radio direction findings；Radionavigation；Using radio wave ranging or test the speed；Using radio wave
There is detection in reflection or reradiative positioning；Using the technical field of the similar device of other ripples, more particularly to one kind is based on
The satellite clock correction Real-time Forecasting Method of phase hit.
Background technology
Clock correction is a very important concept in GPS positioning system, it directly influences the essence of GPS positioning system
Degree, when satellite clock correction can not accurately be known, will influence the normal work of whole alignment system.
In order to obtain high-precision satellite alert clock correction, different types of satellite clock generally uses different classes of multinomial
Forecasting model.Such as, since Rb atomic clocks are used primarily on small-sized punctual platform, required precision is less high, therefore Rb atomic clocks ratio
The frequency drift characteristic of Cs atomic clocks becomes apparent, the former generally use quadratic polynomial model, and the latter then uses an order polynomial
Model prediction satellite clock correction considers periodical trend term and starting point bias term also while automatically selecting the order of multinomial model
Clock correction forecast precision can be further improved.
Furthermore, it is understood that due to the influence of satellite clock self performance or the interference of external environment, satellite clock often generates
Rough error and data outage, phase hit also occur now and then, especially in real-time satellite satellite clock solution, the conversion of reference clock or
Datum station shortage of data is likely to the saltus step for causing real-time satellite clock correction, and in the prior art, using the biography of sliding window
Real-time clock correction forecasting model of uniting is difficult to resist this clock correction exception, causes in real-time satellite satellite clock solution, the change of reference clock
It changes or datum station shortage of data is likely to the saltus step for causing real-time satellite clock correction, and then cause clock correction that cannot accurately be obtained
The problem of knowing, influencing the normal work of whole alignment system.
The content of the invention
It is a primary object of the present invention to overcoming deficiency of the prior art, provide a kind of optimization based on phase hit
Satellite clock correction Real-time Forecasting Method.
The technical solution adopted in the present invention is a kind of satellite clock correction Real-time Forecasting Method based on phase hit, described
Method comprises the following steps：
Step 1：Obtain original satellite clock correction data sequence；
Step 2：Original satellite clock correction data sequence is pre-processed, the satellite clock correction phase sequence that obtains that treated；
Step 3：To treated, satellite clock correction phase sequence carries out fitting of a polynomial, removes the periodic term of phase sequence,
Digital simulation precision；
Step 4：Judge whether the fitting precision being calculated is more than threshold value T, if so, step 5 is carried out, if it is not, then carrying out
Step 7；Wherein, 0≤T≤10ns；
Step 5：Look-in frequency exceptional value from back to front, several data before and after acquisition；If exception and data are not present in frequency
Steadily, then step 7 is carried out, if frequency anomaly and/or data carry out step 6 there are saltus step；
Step 6：Phase hit occurs for satellite clock correction, using the clock correction data after saltus step；
Step 7：Forecast satellite clock correction；Terminate.
Preferably, in the step 2, the pretreatment to original satellite clock correction data sequence includes rejecting invalid clock
Difference detects rough error using phase data and frequency data.
Preferably, treated the satellite clock correction phase sequence is { x1 x2 ... xi, wherein,xiFor tiThe clock correction value at moment, a0、a1、a2、…、amJoin for m clock bias model
Number, m are polynomial exponent number；eiFor model error, 0≤i≤n.
Preferably, Δ t is obtained after treated the satellite clock correction phase sequence fittingi=a0+a1(t-t0)+a2(t-t0
)2+vi, wherein, a0, a1, a2For star clock parameter, t0For the reference epoch of star clock parameter, Δ tiFor clock correction carrier phase observable.
Preferably, a0, a1, a2Respectively to should be regarded as phase data clock correction, be considered as frequency data clock rate and be considered as
The clock drift of frequency drift data.
Preferably, the T is 5ns.
Preferably, in the step 5, the value that exceptional value includes saltus step, clock correction, clock rate and clock drift does not meet linear rule
Value.
Preferably, in the step 5, if detection, less than frequency anomaly value, what is obtained is several frequencies in smooth window
Rate data；If having detected frequency anomaly value, using this frequency anomaly value as trip point, front and rear several frequency numbers are recorded
According to, after facilitating look-in frequency exception, after the frequency anomaly value trip point forecast.
Preferably, in the step 7, forecast satellite clock correction uses forecasting modelWherein, t be time independent variable, y
(t) it is clock correction value, t0For phase hit moment, a occurs0For the phase before phase hit, a '0For the phase after phase hit, a1
For frequency, a2For frequency drift, ε is clock correction noise, Δ a0For starting point correction for deflection, β parameter values are 0 or 1, Al,ωl,Respectively
The amplitude of periodic term, angular speed, phase.
Preferably, when a fitting of a polynomial residual error standard deviation is less than quadratic polynomial fit standard difference, β 0；Instead
It, β 1.
The present invention provides a kind of satellite clock correction Real-time Forecasting Method based on phase hit of optimization, for GNSS satellite
For clock correction forecast, first order modeling and second-order model are separately applied to the real-time clock correction of broadcast ephemeris of GPS and GLONASS systems
In forecast, the order selection of multinomial model depends primarily upon the frequency stability of atomic clock and frequency drift characteristic, and the present invention is fully
The frequency stability of atomic clock and frequency drift characteristic are considered, order choosing has been carried out to GPS, GLONASS, BDS, Galileo respectively
It selects, solves in real-time satellite satellite clock solution, the conversion of reference clock or datum station shortage of data are likely to cause reality
When satellite clock correction saltus step the problem of cause the forecast of real-time clock correction abnormal key issue, the present invention is applied to satellite-based augmentation system
Real-time clock correction forecast, can obtain reliable and stable forecast clock correction, improve clock correction error precision in the SSR correcting informations broadcast,
So as to improve Terminal location services precision.
Description of the drawings
Fig. 1 is the flow chart of the present invention.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments, based on the embodiments of the present invention, those of ordinary skill in the art
The all other embodiments obtained on the premise of creative work is not made, belong to the scope of protection of the invention.
The present invention relates to a kind of satellite clock correction Real-time Forecasting Methods based on phase hit, and the described method includes following steps
Suddenly.
Step 1：Obtain original satellite clock correction data sequence.
Step 2：Original satellite clock correction data sequence is pre-processed, the satellite clock correction phase sequence that obtains that treated.
In the step 2, the pretreatment to original satellite clock correction data sequence includes the invalid clock correction of rejecting, using phase
Position data and frequency data detection rough error.
In the present invention, phase sequence is also known as time deviation data, the i.e. deviation of atomic clock output time and standard time
Value, general unit are represented with second or nanosecond.The satellite clock correction and receiver clock-offsets data often said in GNSS system are phase sequence
Row.
Step 3：To treated, satellite clock correction phase sequence carries out fitting of a polynomial, removes the periodic term of phase sequence,
Digital simulation precision.
Treated the satellite clock correction phase sequence is { x1 x2 ... xi, wherein,
xiFor tiThe clock correction value at moment, a0、a1、a2、…、amFor m clock bias model parameter, m is polynomial exponent number；eiIt is missed for model
Difference, 0≤i≤n.
Δ t is obtained after treated the satellite clock correction phase sequence fittingi=a0+a1(t-t0)+a2(t-t0)2+vi,
In, a0, a1, a2For star clock parameter, t0For the reference epoch of star clock parameter, Δ tiFor clock correction carrier phase observable.
The a0, a1, a2Respectively to should be regarded as phase data clock correction, be considered as frequency data clock rate and be considered as frequency drift number
According to clock float.
Step 4：Judge whether the fitting precision being calculated is more than threshold value T, if so, step 5 is carried out, if it is not, then carrying out
Step 7；Wherein, 0≤T≤10ns.
The T is 5ns.
Step 5：Look-in frequency exceptional value from back to front, several data before and after acquisition；If exception and data are not present in frequency
Steadily, then step 7 is carried out, if frequency anomaly and/or data carry out step 6 there are saltus step.
In the step 5, exceptional value includes the value that the value that saltus step, clock correction, clock rate and clock float does not meet linear rule.
In the step 5, if detection, less than frequency anomaly value, what is obtained is several frequency data in smooth window；
If having detected frequency anomaly value, using this frequency anomaly value as trip point, front and rear several frequency data are recorded, facilitate spy
After measured frequency exception, after the frequency anomaly value trip point forecast.
In the present invention, when the time in detection expression smooth window is by last epoch time to initial epoch from back to front
Between.
Step 6：Phase hit occurs for satellite clock correction, using the clock correction data after saltus step.
Step 7：Forecast satellite clock correction；Terminate.
It is residual by comparing fitting data section based on the mathematical model of GPS satellite clock correction phase hit before the present invention
The standard deviation of difference automatically selects an order polynomial or quadratic polynomial model, and take into account the extraction of cyclically-varying trend term with
And the correction of starting point deviation, while observation weight matrix is determined according to the distance from forecast epoch, it obtains taking phase hit into account
GPS satellite clock correction forecasting model.
In formula, t be time independent variable, y (t) be clock correction value, t0For phase hit moment, a occurs0Before phase hit
Phase, a0' for the phase after phase hit, a1For frequency, a2For frequency drift, ε is clock correction noise, Δ a0For starting point correction for deflection, β
Parameter value for 0 or 1 (when a fitting of a polynomial residual error standard deviation is less than quadratic polynomial fit standard difference, β 0；Instead
It, β 1), Al,ωl,The respectively amplitude of periodic term, angular speed, phase.
Above formula is on the basis of satellite clock correction phase hit model, increases starting point correction for deflection, periodic term corrects, once
Or the new model that quadratic polynomial automatically selects.Although for the model from the influence of phase hit, it not can determine that phase
Position saltus step time of origin.Therefore, on the basis of the GPS satellite clock correction forecasting model of phase hit is taken into account, a kind of accurate spy is built
The GPS real-time satellite clock correction prediction algorithms for surveying the phase hit generation moment are very important.
According to the feature of GPS satellite clock correction phase hit, with the fitting precision of clock correction to determine whether phase hit occurs,
Whether saltus step steadily is positioned with the phase data at phase hit both ends, then in conjunction with the GPS satellite clock correction for taking phase hit into account
Forecasting model, using recursive least square algorithm to clock correction real-time prediction, the method for finally obtaining the present invention.
The present invention is in the GPS real-time satellite clock correction prediction algorithms for taking phase hit into account, first to the original of satellite clock correction
Phase sequence is rejected invalid clock correction, using the data preprocessing operations such as phase data and frequency data detection rough error, is obtained " dry
Only satellite clock correction phase sequence ".Then, carry out fitting of a polynomial and deduct periodic term, calculate its fitting precision, if fitting essence
Degree is less than empirical value (5.0ns), then it is assumed that phase hit does not occur, directly forecasts satellite clock correction；If fitting precision is more than
Empirical value, and detected from back to front less than frequency anomaly, then it is assumed that phase hit does not occur, it is pre- also directly to carry out clock correction
Report；If it detects frequency anomaly and front and rear clock correction data is steady, then it is assumed that phase hit occurs, accurate definite phase hit
Moment carries out clock correction forecast using follow-up data.Conversely, directly carry out clock correction forecast.Algorithm above uses the side of smooth window
Formula, it is continuous to carry out GPS satellite clock correction forecast incessantly in real time.
The present invention provides a kind of satellite clock correction Real-time Forecasting Method based on phase hit of optimization, for GNSS satellite
For clock correction forecast, first order modeling and second-order model are separately applied to the real-time clock correction of broadcast ephemeris of GPS and GLONASS systems
In forecast, the order selection of multinomial model depends primarily upon the frequency stability of atomic clock and frequency drift characteristic, and the present invention is fully
The frequency stability of atomic clock and frequency drift characteristic are considered, order choosing has been carried out to GPS, GLONASS, BDS, Galileo respectively
It selects.It solves in real-time satellite satellite clock solution, the conversion of reference clock or datum station shortage of data are likely to cause reality
When satellite clock correction saltus step the problem of cause the forecast of real-time clock correction abnormal key issue, the present invention is applied to satellite-based augmentation system
Real-time clock correction forecast, can obtain reliable and stable forecast clock correction, improve clock correction error precision in the SSR correcting informations broadcast,
So as to improve Terminal location services precision.
Claims (10)
1. a kind of satellite clock correction Real-time Forecasting Method based on phase hit, it is characterised in that：It the described method comprises the following steps：
Step 1：Obtain original satellite clock correction data sequence；
Step 2：Original satellite clock correction data sequence is pre-processed, the satellite clock correction phase sequence that obtains that treated；
Step 3：To treated, satellite clock correction phase sequence carries out fitting of a polynomial, removes the periodic term of phase sequence, calculates
Fitting precision；
Step 4：Judge whether the fitting precision being calculated is more than threshold value T, if so, step 5 is carried out, if it is not, then carrying out step
7；Wherein, 0≤T≤10ns；
Step 5：Look-in frequency exceptional value from back to front, several data before and after acquisition；If exception is not present in frequency and data are steady,
Step 7 is then carried out, if frequency anomaly and/or data carry out step 6 there are saltus step；
Step 6：Phase hit occurs for satellite clock correction, using the clock correction data after saltus step；
Step 7：Forecast satellite clock correction；Terminate.
2. a kind of satellite clock correction Real-time Forecasting Method based on phase hit according to claim 1, it is characterised in that：Institute
It states in step 2, the pretreatment to original satellite clock correction data sequence includes the invalid clock correction of rejecting, using phase data and frequency
Rate data snooping rough error.
3. a kind of satellite clock correction Real-time Forecasting Method based on phase hit according to claim 1, it is characterised in that：Institute
Stating treated, satellite clock correction phase sequence is { x1 x2 ... xi, wherein,
xiFor tiThe clock correction value at moment, a0、a1、a2、…、amFor m clock bias model parameter, m is polynomial exponent number；eiIt is missed for model
Difference, 0≤i≤n.
4. a kind of satellite clock correction Real-time Forecasting Method based on phase hit according to claim 3, it is characterised in that：Institute
Δ t is obtained after satellite clock correction phase sequence fitting of stating that treatedi=a0+a1(t-t0)+a2(t-t0)2+vi, wherein, a0, a1, a2
For star clock parameter, t0For the reference epoch of star clock parameter, Δ tiFor clock correction carrier phase observable.
5. a kind of satellite clock correction Real-time Forecasting Method based on phase hit according to claim 4, it is characterised in that：Institute
State a0, a1, a2Respectively to should be regarded as phase data clock correction, be considered as frequency data clock rate and be considered as frequency drift data clock float.
6. a kind of satellite clock correction Real-time Forecasting Method based on phase hit according to claim 1, it is characterised in that：Institute
T is stated as 5ns.
7. a kind of satellite clock correction Real-time Forecasting Method based on phase hit according to claim 1, it is characterised in that：Institute
It states in step 5, exceptional value includes the value that the value that saltus step, clock correction, clock rate and clock float does not meet linear rule.
8. a kind of satellite clock correction Real-time Forecasting Method based on phase hit according to claim 1, it is characterised in that：Institute
It states in step 5, if detection, less than frequency anomaly value, what is obtained is several frequency data in smooth window；If it detects
Frequency anomaly value then using this frequency anomaly value as trip point, records front and rear several frequency data, facilitates look-in frequency abnormal
Afterwards, after the frequency anomaly value trip point forecast.
9. a kind of satellite clock correction Real-time Forecasting Method based on phase hit according to claim 1, it is characterised in that：Institute
It states in step 7, forecast satellite clock correction uses forecasting modelWherein, t be time independent variable, y
(t) it is clock correction value, t0For phase hit moment, a occurs0For the phase before phase hit, a0' for the phase after phase hit, a1
For frequency, a2For frequency drift, ε is clock correction noise, Δ a0For starting point correction for deflection, β parameter values are 0 or 1,It is respectively all
The amplitude of phase, angular speed, phase.
10. a kind of satellite clock correction Real-time Forecasting Method based on phase hit according to claim 9, it is characterised in that：
When a fitting of a polynomial residual error standard deviation is less than quadratic polynomial fit standard difference, β 0；Conversely, β is 1.
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| CN110471092A (en) * | 2019-08-13 | 2019-11-19 | 广东星舆科技有限公司 | A kind of method, apparatus and computer media of corrected received machine phase observations amount |
| CN110531386A (en) * | 2019-08-15 | 2019-12-03 | 辽宁生态工程职业学院 | GNSS satellite clock deviation data preprocessing method based on WMAD |
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| CN108873029B (en) * | 2018-06-07 | 2022-04-22 | 南京航空航天大学 | Method for realizing clock error modeling of navigation receiver |
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| CN109283556A (en) * | 2018-09-13 | 2019-01-29 | 垣纬多媒体卫星通信（上海）有限公司 | A kind of low rail navigation satellite clock adjusting method not interrupting navigation Service |
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| CN110376620A (en) * | 2019-07-24 | 2019-10-25 | 广州中海达卫星导航技术股份有限公司 | Real-time clock deviation forecasting procedure, device and computer equipment |
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| CN110531386A (en) * | 2019-08-15 | 2019-12-03 | 辽宁生态工程职业学院 | GNSS satellite clock deviation data preprocessing method based on WMAD |
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| CN113254873B (en) * | 2020-02-10 | 2022-08-16 | 千寻位置网络有限公司 | Satellite clock error forecasting method and system thereof |
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| CN115113514A (en) * | 2022-06-22 | 2022-09-27 | 中国电子科技集团公司第二十九研究所 | Satellite clock error abnormal jump automatic monitoring and recovery system and method |
| CN115113514B (en) * | 2022-06-22 | 2023-08-11 | 中国电子科技集团公司第二十九研究所 | Satellite clock error abnormal jump autonomous monitoring and recovering system and method |
| CN117111110A (en) * | 2023-07-11 | 2023-11-24 | 武汉纺织大学 | Satellite clock error data short-term forecasting method |
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