CN108120993B - Real-time satellite clock error measuring method based on troposphere prior information constraint - Google Patents

Real-time satellite clock error measuring method based on troposphere prior information constraint Download PDF

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CN108120993B
CN108120993B CN201711038092.2A CN201711038092A CN108120993B CN 108120993 B CN108120993 B CN 108120993B CN 201711038092 A CN201711038092 A CN 201711038092A CN 108120993 B CN108120993 B CN 108120993B
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troposphere
epoch
dop
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CN108120993A (en
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熊超
崔红正
周培源
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Qianxun Si Network Zhejiang Co ltd
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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
    • 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

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
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Abstract

The invention relates to a satellite clock error real-time measuring method based on troposphere priori information constraint, which comprises the steps of taking previous epoch troposphere priori information and a current epoch troposphere actually-measured DOP value, if station data are continuous, the current troposphere priori information is previous epoch troposphere priori information, otherwise, searching new troposphere parameter priori information forward and forming previous epoch troposphere priori information with the station data without data interruption, searching DOP values of previous N epochs to construct a linear chart, forecasting a current epoch forecast DOP value, adopting the forecast DOP value as the DOP value when ratio is larger than a constraint value, and otherwise, adopting the actual measurement DOP value as the DOP value, and carrying out real-time sequential least square calculation on the previous epoch troposphere priori information and the DOP value to obtain real-time satellite clock error. The method controls the troposphere parameter to be initialized incorrectly and controls the DOP value to jump, so that the error accumulation is prevented, the clock error calculation precision is improved, the pathological condition of a normal equation is avoided, and the troposphere parameter precision is more stable.

Description

Real-time satellite clock error measuring method based on troposphere prior information constraint
Technical Field
The invention pertains to radio orientation; radio navigation; measuring distance or speed by using radio waves; localization or presence detection using reflection or re-radiation of radio waves; the technical field of similar devices adopting other waves, in particular to a satellite clock error real-time measuring method based on troposphere prior information constraint.
Background
Clock error is a very important concept in GNSS positioning systems, and it directly affects the accuracy of GNSS positioning systems, and when the satellite clock error cannot be accurately known, it will affect the normal operation of the overall positioning system.
In the prior art, the real-time estimation of the satellite clock error is inevitably influenced by troposphere delay of each survey station, generally, the influence of dry component can only be changed in model correction, but wet component delay cannot be accurately corrected, the influence of the residual part of the inclined path delay can even exceed 1 meter, the precision of the real-time estimation of the satellite clock error is greatly influenced, the precision of the broadcast SSR correction information clock error is reduced, and the performance of positioning service is reduced.
Disclosure of Invention
The invention mainly aims to overcome the defects in the prior art and provide an optimized real-time satellite clock error measuring method based on troposphere prior information constraint.
The invention adopts the technical scheme that a satellite clock error real-time measuring method based on troposphere prior information constraint comprises the following steps:
step 1: obtaining the prior information of the troposphere of the previous epoch and the actually measured DOP value DOP of the troposphere of the current epochreal；
Step 2: detecting all survey station data related to prior information of the troposphere of the previous epoch; if all the survey station data are continuous values, performing the step 3, otherwise, performing the step 4;
and step 3: the prior information of the current troposphere is the prior information of the troposphere of the last epoch; carrying out step 5;
and 4, step 4: if any survey station data is discontinuous, the current survey station searches the prior information of the new troposphere parameters forward, and the prior information of all the new troposphere parameters is combined with the survey station data without data interruption to form the prior information of the troposphere of the previous epoch;
and 5: searching DOP value information of N epochs before the current epoch, constructing a linear chart, and forecasting a predicted DOP value DOP of the current epochpred；
Step 6: computing
Figure BDA0001449384200000021
When ratio is greater than the constraint value epsilon, the predicted DOP value DOP is adoptedpredThe DOP value of the troposphere of the current epoch is adopted, otherwise, the measured DOP value DOP of the troposphere of the current epoch is adoptedrealDOP value for troposphere for the current epoch; wherein epsilon is more than or equal to 0 and less than or equal to 1;
and 7: carrying out real-time sequential least square calculation on the prior information of the troposphere of the previous epoch and the DOP value of the troposphere of the current epoch to obtain real-time satellite clock error; and (6) ending.
Preferably, in said step 5, N ∈ [0,10 ].
Preferably, in step 6, ε is 0.3.
The invention provides an optimized real-time satellite clock error measuring method based on troposphere prior information constraint, which can control the error initialization of troposphere parameters and control the jump phenomenon of DOP value by adopting a plurality of epoch troposphere parameter estimation as prior information and fully utilizing the troposphere parameter prior information and a corresponding random model, prevent the accumulation of troposphere errors, improve the clock error resolving precision, avoid the pathological condition of a normal equation caused by stronger correlation between the clock error parameters and the troposphere parameters, and make the coincidence precision in the troposphere parameters in the real-time satellite clock error estimation more stable under the constraint of the troposphere prior information.
Drawings
FIG. 1 is a flow chart of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention, and based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the scope of the present invention.
The invention relates to a satellite clock error real-time measuring method based on troposphere prior information constraint.
Step 1: obtaining the prior information of the troposphere of the previous epoch and the actually measured DOP value DOP of the troposphere of the current epochreal。
Step 2: detecting all survey station data related to prior information of the troposphere of the previous epoch; and (3) if all the station survey data are continuous values, performing the step (3), and otherwise, performing the step (4).
And step 3: the prior information of the current troposphere is the prior information of the troposphere of the last epoch; step 5 is performed.
And 4, step 4: if any survey station data is discontinuous, the current survey station searches the prior information of the new troposphere parameters forward, and the prior information of all the new troposphere parameters is combined with the survey station data without data interruption to form the prior information of the troposphere of the previous epoch; here, the combination means that all the prior information matrixes of the new tropospheric parameters are added to the data information matrix of the measuring station without data interruption to form a new tropospheric prior information matrix.
And 5: searching DOP value information of N epochs before the current epoch, constructing a linear chart, and forecasting a predicted DOP value DOP of the current epochpred。
In the step 5, N belongs to [0,10 ].
In the invention, the value range of N means that DOP value information of 0-10 epochs before the current epoch is searched.
Step 6: computing
Figure BDA0001449384200000031
When ratio is greater than the constraint value epsilon, the predicted DOP value DOP is adoptedpredThe DOP value of the troposphere of the current epoch is adopted, otherwise, the measured DOP value DOP of the troposphere of the current epoch is adoptedrealDOP value for troposphere for the current epoch; wherein epsilon is more than or equal to 0 and less than or equal to 1.
In the step 6, epsilon is 0.3.
And 7: carrying out real-time sequential least square calculation on the prior information of the troposphere of the previous epoch and the DOP value of the troposphere of the current epoch to obtain real-time satellite clock error; and (6) ending.
In the invention, the information of the current survey station is a threshold value mainly set by data preprocessing, generally, the threshold value of a data short arc segment is 1800s, the threshold value of time difference of adjacent observed data is 600s, and the continuous representation is realized in the threshold value.
In the invention, the following calculation is carried out on the method adopting troposphere prior information constraint: in the real-time estimation algorithm of the satellite clock error with the troposphere prior constraint, a receiver clock error parameter and a satellite clock error parameter are time-varying parameters. For the tropospheric wet delay parameter and the ambiguity parameter, the tropospheric wet delay parameter is constant during the segment time, and the satellite ambiguity parameter is also constant when no cycle slip occurs, so that the parameters are taken as segment non-time-varying parameters. Meanwhile, different prior weights are given to the ionosphere-free linear combination observed values of the pseudo range and the carrier wave according to the satellite altitude angle, and then an observation error equation of the kth and k +1 epoch is obtained
Figure BDA0001449384200000041
In the formula (1), k is an epoch number, X is a receiver clock error and satellite clock error parameter vector, Y is a troposphere and ambiguity parameter vector, A and B are coefficient matrixes corresponding to X and Y respectively, L and P are an observation vector and a weight matrix respectively, and V is a residual vector.
The normal equation of the k, k +1 epoch observation equation can be written as
Figure BDA0001449384200000042
Order to
Figure BDA0001449384200000043
Where k, k +1, the formula (3) may be changed to
Figure BDA0001449384200000044
Eliminating clock error parameters
Figure BDA0001449384200000045
Then there is
Figure BDA0001449384200000051
Order to
Figure BDA0001449384200000052
Where i is k, k +1, to give
Figure BDA0001449384200000053
Namely, it is
Figure BDA0001449384200000054
Considering the above equation as a recursive equation, when solving from the first epoch to the k +1 epoch,tropospheric and ambiguity solutions can be derived
Figure BDA0001449384200000055
And co-factor array
Figure BDA0001449384200000056
Is composed of
Figure BDA0001449384200000057
The real-time solution of the clock error parameters of the receiver and the satellite can be obtained by substituting the formula into the formula (4)
Figure BDA0001449384200000058
And co-factor array
Figure BDA0001449384200000059
Is composed of
Figure BDA00014493842000000510
The sum of the squares of the total residuals Ω
Figure BDA00014493842000000511
In fact, in order to facilitate the implementation of the program,
Figure BDA00014493842000000512
and
Figure BDA00014493842000000513
store the effective information of the first k observation equations updated in real time, i.e. to be ready
Figure BDA00014493842000000514
And
Figure BDA00014493842000000515
as prior information of the (k + 1) th observation equation, it is equivalent to solving the previous (k + 1) observation equations integrally for tropospheric parameter and ambiguity parameter estimation. When first checking informationWhen the method is strict and reliable, the real-time sequential least square estimation has unbiased optimality.
Therefore, by introducing prior information constraint of troposphere and ambiguity, the GNSS satellite clock difference real-time estimation has stable continuous characteristic and unbiased optimality.
In the invention, the specific steps of performing real-time sequential least square calculation on the prior information of the troposphere of the previous epoch and the DOP value of the troposphere of the current epoch are as follows:
if the observed information of the first k observed equations is expected a priori to be
Figure BDA0001449384200000061
The prior weight matrix is
Figure BDA0001449384200000062
The following observation equation can be obtained by substituting the troposphere and the virtual observation value of the ambiguity parameter Y:
Figure BDA0001449384200000063
method equation obtained by using least square adjustment principle
Figure BDA0001449384200000064
Eliminating clock error parameters
Figure BDA0001449384200000065
It is easy to know that the method can be used for the treatment of the diseases,
Figure BDA0001449384200000066
and
Figure BDA0001449384200000067
coefficient matrix and constant term matrix of front k +1 epoch troposphere and ambiguity parameter Y respectively, then have
Figure BDA0001449384200000068
Substituting (15) into (14) results in the equivalence of equation (9). Equation (14) is the real-time clock error parameter sequential least square estimation model with prior information.
The invention provides an optimized real-time satellite clock error measuring method based on troposphere prior information constraint, which can control the error initialization of troposphere parameters and control the jump phenomenon of DOP value by adopting a plurality of epoch troposphere parameter estimation as prior information and fully utilizing the troposphere parameter prior information and a corresponding random model, prevent the accumulation of troposphere errors, improve the clock error resolving precision, avoid the pathological condition of a normal equation caused by stronger correlation between the clock error parameters and the troposphere parameters, and make the coincidence precision in the troposphere parameters in the real-time satellite clock error estimation more stable under the constraint of the troposphere prior information.

Claims (3)

1. A satellite clock error real-time measurement method based on troposphere prior information constraint is characterized in that: the method comprises the following steps:
step 1: obtaining the prior information of the troposphere of the previous epoch and the actually measured DOP value DOP of the troposphere of the current epochreal；
Step 2: detecting all survey station data related to prior information of the troposphere of the previous epoch; if all the survey station data are continuous values, performing the step 3, otherwise, performing the step 4;
and step 3: the prior information of the troposphere with the prior information of the current troposphere as the previous epoch is taken as the prior information of the troposphere; carrying out step 5;
and 4, step 4: if any survey station data is discontinuous, the current survey station searches the prior information of the new troposphere parameters forward, and the prior information of all the new troposphere parameters is combined with the survey station data without data interruption to form the prior information of the troposphere of the previous epoch;
and 5: searching DOP value information of N epochs before the current epoch, constructing a linear chart, and forecasting a predicted DOP value DOP of the current epochpred；
Step 6:computing
Figure FDA0002277536070000011
When ratio is greater than the constraint value epsilon, the predicted DOP value DOP is adoptedpredThe DOP value of the troposphere of the current epoch is adopted, otherwise, the measured DOP value DOP of the troposphere of the current epoch is adoptedrealDOP value for troposphere for the current epoch; wherein epsilon is more than or equal to 0 and less than or equal to 1;
and 7: carrying out real-time sequential least square calculation on the prior information of the troposphere of the previous epoch and the DOP value of the troposphere of the current epoch to obtain real-time satellite clock error; and (6) ending.
2. The real-time satellite clock error determination method based on troposphere priori information constraint according to claim 1, characterized in that: in the step 5, N belongs to [0,10 ].
3. The real-time satellite clock error determination method based on troposphere priori information constraint according to claim 1, characterized in that: in the step 6, epsilon is 0.3.
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