CN108120993A - A kind of satellite clock correction real-time assay based on the constraint of troposphere prior information - Google Patents
A kind of satellite clock correction real-time assay based on the constraint of troposphere prior information Download PDFInfo
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- CN108120993A CN108120993A CN201711038092.2A CN201711038092A CN108120993A CN 108120993 A CN108120993 A CN 108120993A CN 201711038092 A CN201711038092 A CN 201711038092A CN 108120993 A CN108120993 A CN 108120993A
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- prior information
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- troposphere
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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
- G01S19/37—Hardware or software details of the signal processing chain
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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
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
Abstract
The present invention relates to a kind of satellite clock correction real-time assays based on the constraint of troposphere prior information, an epoch troposphere prior information and current epoch troposphere is taken to survey DOP values, if survey station data are continuous, current troposphere prior information is upper epoch troposphere prior information, otherwise new convection current layer parameter prior information is searched for forward and forms upper epoch troposphere prior information with the survey station data of no data outage, search for the DOP values structure linear schedule of top n epoch, forecast current epoch prediction DOP values, prediction DOP values are then used as DOP values when ratio is more than binding occurrence, otherwise actual measurement DOP values are used as DOP values, real-time recursive least square calculating is carried out to upper epoch troposphere prior information and DOP values, obtain real-time satellite clock correction.Present invention control troposphere parameter error initializes and DOP values is controlled to jump, and prevents the accumulation of error, improves satellite clock solution precision, avoids normal equation ill, troposphere parameters precision is more steady.
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 assay of troposphere prior information constraint.
Background technology
Clock correction is a very important concept in GNSS alignment systems, it directly influences the essence of GNSS alignment systems
Degree, when satellite clock correction can not accurately be known, will influence the normal work of whole alignment system.
In the prior art, the real-time estimation of satellite clock correction is inevitably subject to the shadow of each survey station tropospheric delay
It rings, it is considered that model correction can only give up the influence of dry component, and can not accurately correct wet component delay, oblique path delay
Nubbin influences that even the precision that satellite clock correction is estimated in real time can be largely effected on more than 1 meter, causes the SSR broadcast correction letters
Clock correction precise decreasing is ceased, causes positioning service hydraulic performance decline.
The content of the invention
It is a primary object of the present invention to overcome deficiency of the prior art, provide a kind of optimization based on troposphere priori
Information constrained satellite clock correction real-time assay.
The technical solution adopted in the present invention is a kind of satellite clock correction the real time measure based on the constraint of troposphere prior information
Method the described method comprises the following steps：
Step 1：Obtained the tropospheric prior information of a upper epoch and the tropospheric actual measurement DOP values of current epoch
DOPreal；
Step 2：All survey station data involved by the tropospheric prior information of a detection upper epoch；If all survey station numbers
According to being successive value, then step 3 is carried out, otherwise, carry out step 4；
Step 3：Current troposphere prior information was the tropospheric prior information of a upper epoch；Carry out step 5；
Step 4：Any survey station data are discontinuous, then current survey station searches for forward the prior information of new convection current layer parameter, institute
The prior information for the new convection current layer parameter having is combined with the survey station data without data outage, forms the tropospheric of a upper epoch
Prior information；
Step 5：The DOP value informations of N number of epoch before current epoch are searched for, linear schedule is built, forecasts current epoch
Predict DOP values DOPpred；
Step 6：It calculatesWhen ratio is more than binding occurrence ε, then DOP values are predicted in use
DOPpredFor the tropospheric DOP values of current epoch, otherwise, DOP values DOP is surveyed using current epoch is troposphericrealCurrently to go through
The tropospheric DOP values of member；Wherein, 0≤ε≤1；
Step 7：The tropospheric DOP values of tropospheric prior information and current epoch to a upper epoch carry out sequential in real time
Least-squares calculation obtains real-time satellite clock correction；Terminate.
Preferably, in the step 5, N ∈ [0,10].
Preferably, in the step 6, ε 0.3.
The present invention provides a kind of satellite clock correction real-time assays based on the constraint of troposphere prior information of optimization, lead to
Cross using several epoch troposphere parameter Estimations as prior information, make full use of convection current layer parameter prior information and accordingly with
Machine model can control the mistake of convection current layer parameter to initialize and can control the chattering of DOP values, prevent tropospheric error
Accumulation improves satellite clock solution precision, can also avoid because between clock correction parameter and convection current layer parameter correlation it is relatively strong caused by method
Equation morbid state, under the constraint of troposphere prior information, the convection current layer parameter precision of inner coincidence in real-time satellite clock bias estimation is more
Add steady.
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 assay based on the constraint of troposphere prior information, the method bags
Include following steps.
Step 1：Obtained the tropospheric prior information of a upper epoch and the tropospheric actual measurement DOP values of current epoch
DOPreal。
Step 2：All survey station data involved by the tropospheric prior information of a detection upper epoch；If all survey station numbers
According to being successive value, then step 3 is carried out, otherwise, carry out step 4.
Step 3：Current troposphere prior information was the tropospheric prior information of a upper epoch；Carry out step 5.
Step 4：Any survey station data are discontinuous, then current survey station searches for forward the prior information of new convection current layer parameter, institute
The prior information for the new convection current layer parameter having is combined with the survey station data without data outage, forms the tropospheric of a upper epoch
Prior information；Herein, the prior information matrix of all new convection current layer parameters is added to no data outage with reference to meaning
In survey station data information matrix, new troposphere prior information matrix is formed.
Step 5：The DOP value informations of N number of epoch before current epoch are searched for, linear schedule is built, forecasts current epoch
Predict DOP values DOPpred。
In the step 5, N ∈ [0,10].
In the present invention, the value range expression of N means the DOP value informations of 0~10 epoch before search current epoch.
Step 6：It calculatesWhen ratio is more than binding occurrence ε, then DOP values are predicted in use
DOPpredFor the tropospheric DOP values of current epoch, otherwise, DOP values DOP is surveyed using current epoch is troposphericrealCurrently to go through
The tropospheric DOP values of member；Wherein, 0≤ε≤1.
In the step 6, ε 0.3.
Step 7：The tropospheric DOP values of tropospheric prior information and current epoch to a upper epoch carry out sequential in real time
Least-squares calculation obtains real-time satellite clock correction；Terminate.
In the present invention, the information of current survey station is the main threshold value using data prediction setting, under normal circumstances, data
Short arc segments threshold value is 1800s, and adjacent observation data time difference threshold value is 600s, represents continuous in threshold value.
In the present invention, following reckoning is done for the method using the constraint of troposphere prior information：With troposphere priori
In the real-time algorithm for estimating of satellite clock correction of constraint, receiver clock-offsets parameter and satellite clock correction parameter are time-varying parameter.For convection current
Layer wet stack emission parameter and fuzziness parameter, troposphere wet stack emission parameter is constant in split time, in no generation cycle slip
Shi Weixing fuzziness parameters are also constant, therefore as segmentation non-time-varying parameter.Meanwhile according to elevation of satellite to puppet
Away from the Posterior weights different without the imparting of ionosphere linear combination observation with carrier wave, and then kth is obtained, the observation of k+1 epoch
Error equation
In formula (1), k is epoch number, and X is receiver clock-offsets and satellite clock correction parameter vector, and Y joins for troposphere and fuzziness
Number vector, A and B are respectively the corresponding coefficient matrixes of X and Y, and L and P are respectively observation vector and weight matrix, and V is residual vector.
Kth, the normal equation of k+1 epoch observational equations can be written as
Order
I=k, k+1 in formula, then (3) formula can be changed to
Eliminate clock correction parameterThen have
Order
I=k, k+1 in formula, obtain
I.e.
Consideration above formula is recurrence formula, when resolving from first epoch to k+1 epoch, can obtain troposphere and solution of fuzzy degree
And association's factor battle arrayFor
Above formula is substituted into (4), receiver can be obtained and satellite clock correction parameter solves in real timeAnd association's factor battle arrayFor
Total residual sum of squares (RSS) Ω is
In fact, realized for the ease of program,WithStore effective letter of the preceding k observational equation of real-time update
Breath, willWithAs the prior information of+1 observational equation of kth, it is equivalent to preceding k+1 observation side
Journey integrated solution convection current layer parameter and fuzziness parameter estimation.When prior information is tightly reliable, real-time recursive least square is estimated
Meter has unbiased optimality.
Therefore, constrained by introducing the prior information of troposphere and fuzziness, GNSS satellite clock correction estimates just have in real time
Steady and continuous characteristic and with unbiased optimality.
In the present invention, the tropospheric DOP values of tropospheric prior information and current epoch to a upper epoch carry out real-time
Recursive least square calculating is as follows：
If the observation information by preceding k observational equation is with experienced expectationPosterior weight battle array isTroposphere and
The dummy observation of fuzziness parameter Y replaces, and can obtain following observational equation：
Normal equation can be obtained using least square adjustment principle
Clock correction parameter is eliminated to obtain
It is apparent from,WithThe factor arrays and constant term of respectively preceding k+1 epoch troposphere and fuzziness parameter Y
Battle array, then have
(15) are substituted into (14), it is known that it is equivalent to formula (9).Formula (14) is the real-time clock correction with prior information
Parameter recursive least square estimates model.
The present invention provides a kind of satellite clock correction real-time assays based on the constraint of troposphere prior information of optimization, lead to
Cross using several epoch troposphere parameter Estimations as prior information, make full use of convection current layer parameter prior information and accordingly with
Machine model can control the mistake of convection current layer parameter to initialize and can control the chattering of DOP values, prevent tropospheric error
Accumulation improves satellite clock solution precision, can also avoid because between clock correction parameter and convection current layer parameter correlation it is relatively strong caused by method
Equation morbid state, under the constraint of troposphere prior information, the convection current layer parameter precision of inner coincidence in real-time satellite clock bias estimation is more
Add steady.
Claims (3)
1. a kind of satellite clock correction real-time assay based on the constraint of troposphere prior information, it is characterised in that：The method bag
Include following steps：
Step 1：Obtained the tropospheric prior information of a upper epoch and the tropospheric actual measurement DOP values DOP of current epochreal；
Step 2：All survey station data involved by the tropospheric prior information of a detection upper epoch；If all survey station data are equal
For successive value, then step 3 is carried out, otherwise, carry out step 4；
Step 3：Current troposphere prior information was the tropospheric prior information of a upper epoch；Carry out step 5；
Step 4：Any survey station data are discontinuous, then current survey station searches for forward the prior information of new convection current layer parameter, all
The prior information of new convection current layer parameter is combined with the survey station data without data outage, forms the tropospheric priori of a upper epoch
Information；
Step 5：The DOP value informations of N number of epoch before current epoch are searched for, linear schedule is built, forecasts the prediction of current epoch
DOP values DOPpred；
Step 6：It calculatesWhen ratio is more than binding occurrence ε, then DOP values DOP is predicted in usepred
For the tropospheric DOP values of current epoch, otherwise, DOP values DOP is surveyed using current epoch is troposphericrealFor current epoch pair
The DOP values of fluid layer；Wherein, 0≤ε≤1；
Step 7：The tropospheric DOP values of tropospheric prior information and current epoch to a upper epoch carry out sequential minimum in real time
Two multiply calculating, obtain real-time satellite clock correction；Terminate.
2. a kind of satellite clock correction real-time assay based on the constraint of troposphere prior information according to claim 1,
It is characterized in that：In the step 5, N ∈ [0,10].
3. a kind of satellite clock correction real-time assay based on the constraint of troposphere prior information according to claim 1,
It is characterized in that：In the step 6, ε 0.3.
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Cited By (1)
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| CN111158032A (en) * | 2018-11-07 | 2020-05-15 | 千寻位置网络有限公司 | Troposphere delay model establishing and obtaining method and device and positioning system |
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