CN108196279A - Satellite clock correction based on real-time stream resolves and forecasting procedure - Google Patents
Satellite clock correction based on real-time stream resolves and forecasting procedure Download PDFInfo
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- 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
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- 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
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- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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Abstract
The present invention provides satellite clock correction resolving and forecasting procedure based on real-time stream, including：Data prediction is carried out to the observation data of real-time stream；According to after data prediction pseudorange, carrier wave, carrier phase smoothed pseudorange observation, set up non-differential mode type and difference model between epoch, using several epoch troposphere parameter Estimations as prior information, carry out obtaining clock bias estimation information according to a preliminary estimate in real time；And using clock correction data acquisition base condition is broadcasted, the benchmark of clock bias estimation is constrained, with the clock correction data resolved again；The clock correction data and broadcast clock correction data resolved again to reading are stored respectively, obtain real-time resolving clock correction and broadcast clock correction and model parameter, and select broadcast clock correction corresponding with real-time prediction clock correction, the rough error of real-time clock (RTC) difference data is detected and rejected, fitting model using an order polynomial for the data of no rough error carries out clock correction forecast.The present invention has the characteristics that faster reaction speed, higher forecast precision.
Description
Technical field
The invention belongs to the technical field of satellite application, be related to a kind of satellite clock correction based on real-time stream resolve and
Forecasting procedure.
Background technology
Satellite-based augmentation system is mainly used for receiving CORS observation stations data, and it is poor to resolve generation through track, clock correction and ionosphere
Divide correcting information and integrity information, upper note to GEO satellite carries out broadcasting for differential corrections by satellite, realizes and user is determined
The enhancing of position precision and positioning integrity.Data processing centre is mainly used for receiving CORS stations GPS observation data, carries out in real time
GPS precise orbit determinations, precise clock correction determine, region ionosphere modeling, and generate correction and integrity information, and information is sent
Ground connecting station is given, while completes the operation, monitoring and maintenance of whole system.
GPS satellite-based augmentation systems include GPS precise orbit determinations software, precise clock correction determines that software, region ionosphere modeling are soft
Part, integrity software.Data processing centre's GPS precise clock corrections determine software belong to GPS satellite-based augmentation systems precise clock correction it is true
Order member, it is main to complete to resolve for the precise clock correction of GPS satellite-based augmentation systems and forecast function.
In Clock Bias real-time estimation, when the real time data of continuous operation base station is second-rate, estimation ginseng
Real-time clock correction estimated accuracy can be caused relatively low there are correlation between number.In order to reduce the correlation between parameter, if using
Dry epoch troposphere parameter Estimation can control the mistake of convection current layer parameter to initialize and can control DOP values as prior information
Jump, improve satellite clock solution precision, can also avoid because between clock correction parameter and convection current layer parameter correlation it is relatively strong caused by
Normal equation morbid state.Therefore, research is necessary with the prior-constrained real-time satellite clock bias estimation algorithm of troposphere.
Due to the influence of satellite clock self performance or external environment, satellite clock often generates rough error, data outage and phase
Phenomena such as position saltus step.Especially in real-time satellite clock solution, the transformation of reference clock or datum station shortage of data are likely to
Lead to the saltus step of real-time clock correction.Due to the tradition using sliding window in real time clock correction forecasting model be difficult to resist this clock correction it is different
Often, therefore research is taken the satellite clock correction real-time prediction algorithm of phase hit into account and is necessary.
Invention content
Problems to be solved by the invention are that the saltus step of real-time clock correction how is resisted in real-time satellite clock solution, is taken into account
The satellite clock correction real-time prediction of phase hit, to realize the raising of satellite clock solution precision.
Technological means for solving subject is to propose a kind of satellite clock correction resolving based on real-time stream and forecast side
Method, this method can improve satellite clock solution precision, can also avoid due to correlation is relatively strong between clock correction parameter and convection current layer parameter
Caused normal equation morbid state；The satellite clock correction real-time prediction algorithm for taking phase hit into account is proposed, is avoided in actually resolving,
Abnormal phenomenon is resolved caused by clock correction saltus step.
Satellite clock correction the present invention is based on real-time stream resolves and forecasting procedure, includes the following steps：
Data prediction is carried out to the observation data of real-time stream, obtains the pseudorange after data prediction, carrier wave, phase
Position smoothing pseudo range observation；
According to after the data prediction pseudorange, carrier wave, carrier phase smoothed pseudorange observation, set up and non-differential mode type and go through
Difference model between member, using several epoch troposphere parameter Estimations as prior information, in real time to satellite clock correction and receiver clock
Poor parameter, troposphere and fuzziness parameter carry out obtaining clock bias estimation information according to a preliminary estimate；And it utilizes and broadcasts clock correction data acquisition
Base condition constrains the benchmark of clock bias estimation, in troposphere and fuzziness restriction on the parameters and clock correction reference data
Constraint is lower to be resolved satellite clock correction again, with the clock correction data resolved again；
Foundation fits forecasting model, and distinguishes reading in the clock correction data resolved again and broadcast clock correction data
Storage obtains real-time resolving clock correction and broadcast clock correction and model parameter, and selects broadcast clock corresponding with real-time prediction clock correction
Difference as the real-time clock (RTC) difference data for fitting forecasting model and detects its rough error, the elimination of rough difference that will be detected, for
The real-time clock (RTC) difference data of no rough error fits model using an order polynomial and carries out clock correction forecast.
Further, as a preferred technical solution of the present invention, to the observation number of real-time stream in the method
Include the detection of observation data validity, real-time rough error and Detection of Cycle-slip, data observation quality testing according to data prediction is carried out.
Further, as a preferred technical solution of the present invention, joined in the method using several epoch tropospheres
Number estimation includes as prior information：The precision of the epoch satellite clock solution is judged and after honouring according to the clock bias estimation information
Fluid layer and fuzziness prior information, while repair the DOP values of current epoch troposphere and fuzziness.
Further, as a preferred technical solution of the present invention, using least square method to satellite in the method
Clock correction and receiver clock-offsets parameter, troposphere and fuzziness parameter carry out according to a preliminary estimate.
Invention effect is, the advantages of the present invention over the prior art are that：(1) several epoch convection current layer parameters are used
Estimation can control the mistake of convection current layer parameter to initialize and can control the jump of DOP values, improve clock correction as prior information
Calculation accuracy, can also avoid because between clock correction parameter and convection current layer parameter correlation it is relatively strong caused by normal equation morbid state；(2)
It using the satellite clock correction real-time prediction algorithm for taking phase hit into account, avoids in actually resolving, is resolved caused by clock correction saltus step different
Often occur as.
Description of the drawings
Fig. 1 is the flow chart of the method for the present invention.
Fig. 2 is real time data pretreatment process figure of the present invention；
Fig. 3 is the flow chart of troposphere prior information constraints policy in the present invention；
Fig. 4 is the real-time satellite clock correction prediction algorithm that the present invention takes phase hit into account.
Fig. 5 European Area in January, 2015-clock correction calculation accuracy assessments in March under fixed reference station condition for the present invention
Figure；
Fig. 6, which is that the present invention is based on the assessments of Global Regional clock correction calculation accuracy on January 3rd, 2016, to scheme.
Specific embodiment
Hereinafter, it is described in detail based on attached drawing for the present invention.
As shown in Figure 1, the present invention devises a kind of satellite clock correction resolving based on real-time stream and forecasting procedure, packet
Include following steps：
Step 1 carries out data prediction to the real-time stream observation data received, after obtaining data prediction
Pseudorange, carrier wave, carrier phase smoothed pseudorange observation.
Real time data pretreatment realizes the detection of observation data validity, real-time rough error and Detection of Cycle-slip, data observation matter
Amount control.It implements flow as shown in Fig. 2, specific implementation situation is as follows：
(1) observation data validity detection：Whether detection data is complete, whether has corresponding orbital data etc.；
(2) real-time rough error and Detection of Cycle-slip：Real-time detection rough error and cycle slip, excluding gross error data, and indicate all hop counts
According to；
(3) data observation quality control：The observation data at rejecting low clearance angle, every Correction of Errors are obtained with One-Point Location
Access is according to observation noise and positioning accuracy and then the data of the low observation quality of rejecting；
(4) carrier phase smoothed pseudorange：According to all hop-informations of detection and carrier information smoothing pseudo range observation.
Step 2, using the pretreated pseudorange of real time data, carrier wave, carrier phase smoothed pseudorange observation, using non-differential mode
Difference model calculates satellite clock correction in real time between type and epoch.It implements flow as shown in figure 3, specific implementation situation is as follows：
1. every Correction of Errors：Using model correction phase winding error, the variation of Satellite Phase center, earth tide
Correction, the correction of oceanic load tide correction, earth rotation, relativistic effect equal error correcting method；
2. satellite clock correction is resolved in advance：Non- differential mode type and difference model between epoch are set up, to satellite clock correction and receiver clock-offsets
Parameter, troposphere and fuzziness parameter carry out according to a preliminary estimate；
3. check and inherit information between epoch：According to survey station residual error equally accurate information, the larger observation data of cancelling noise
And survey station, judge the precise manner of the epoch satellite clock solution according to clock bias estimation information, real-time detection fault message, by after
Fluid layer and fuzziness prior information are honoured, while repairs the DOP values of current epoch troposphere and fuzziness to realize, using wide
Clock correction data are broadcast, base condition is obtained, the benchmark of clock bias estimation is constrained；
4. satellite clock is resolved again under troposphere and fuzziness restriction on the parameters and the constraint of clock correction reference data
Difference, to obtain reliable and stable clock correction data result.
In terms of Clock Bias real-time estimation, when the real time data for providing continuous operation base station is second-rate,
Estimate that there are correlations between parameter, cause real-time clock correction estimated accuracy relatively low.In order to reduce the correlation between parameter, adopt
By the use of several epoch troposphere parameter Estimations as prior information, convection current layer parameter prior information and corresponding random is made full use of
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
Normal equation morbid state.Therefore, it is tackled key problems having the prior-constrained real-time satellite clock bias estimation algorithm of troposphere.
It is constrained by the prior information for introducing troposphere and fuzziness, BDS satellite clock corrections real-time estimation, which just has to stablize, to be connected
Continue characteristic and with unbiased optimality.If the observation information by preceding k observational equation is with experienced expectationPosterior weight battle array
ForTroposphere and fuzziness parameter Y dummy observation replace, following observational equation can be obtained：
Normal equation can be obtained using least square adjustment principle：
Clock correction parameter is eliminated to obtain：
It is apparent from,The factor arrays and constant term of respectively preceding k+1 epoch troposphere and fuzziness parameter Y
Battle array, then have：
Formula (4) is the real-time clock correction parameter recursive least square estimation model with prior information.Troposphere priori
It is information constrained mainly by inheriting troposphere prior information, while repair the tropospheric DOP values of current epoch to realize.
Succession for troposphere prior information obtains upper epoch troposphere prior information, if all survey stations first
Data are all continuous, then directly inherit the prior information of a upper epoch.If restored after certain survey station data outages in the epoch,
It then will appear new convection current layer parameter, search for its newest prior information forward, formed with the survey station of no data outage complete
Prior information.In addition, due to it is indivedual at a distance of nearer survey stations can cause between convection current layer parameter and clock correction parameter correlation compared with
By force, the DOP values of certain survey station convection current layer parameters will appear jump or fluctuation, and under normal circumstances between epoch DOP values change
Change is stable.Abnormality detection and reparation for current epoch troposphere DOP values, search for forward several epoch convection current first
Layer DOP values, fit linear model, forecast the DOP values of current epoch, so can CALCULATING PREDICTION value and actual value deviation with
The ratio r atio of predicted value：
In formula, DOPpredFor predicted value, DOPcurrentFor actual value.If ratio is more than empirical value (0.3), using pre-
DOP values are reported, otherwise use practical DOP values.
For the real-time resolving of GPS satellite clock correction, a kind of troposphere and fuzziness parameter prior information constraint shape are constructed
The real-time recursive least square algorithm of formula.Under the constraint of troposphere prior information, the troposphere in real-time satellite clock bias estimation
Parameter precision of inner coincidence is more steady.
Step 3, the forecasting model that fits that foundation is fitted using the satellite clock correction of real-time resolving, while take phase jump into account
The influence of change, and then carry out real-time clock correction short-period forecast.Mainly include invalid clock correction and Detection of Gross Errors, clock correction forecasting model are intended
It closes, phase hit detects and clock correction short-period forecast in real time.It implements flow as shown in figure 4, specific implementation situation is as follows：
1. foundation fits forecasting model, and real-time resolving clock correction data to reading and broadcast clock correction data are divided
It does not store, obtains real-time resolving clock correction and broadcast clock correction and model parameter；
2. broadcast clock correction corresponding with real-time prediction clock correction is selected, as the real-time clock (RTC) difference data for fitting forecasting model
And its rough error is detected, i.e., the rough error of the real-time clock (RTC) difference data for fitting forecasting model of acquisition is detected, and to reality
Clock difference data also carries out the detection of rough error, by elimination of rough difference；
3. for no rough error data using an order polynomial fit model carry out clock correction forecast, deduct its periodic term with
And starting point deviation obtains real-time prediction clock correction, and using model coefficient and forecast clock correction is fitted to broadcasting clock correction amendment, obtains most
The result of whole real-time clock correction forecast.
In order to obtain high-precision satellite alert clock correction, different types of satellite clock is generally using different classes of multinomial
Formula forecasting model.Since frequency drift characteristic of the Rb clocks than Cs clock becomes apparent, the former generally use quadratic polynomial model and the latter
Satellite clock correction is then forecast using a multinomial model.In addition, automatically selecting the order of multinomial model, while consider the period
Property trend term and starting point bias term can also further improve clock correction forecast precision.In this project, due to satellite clock itself property
The influence of energy or the interference of external environment, satellite clock often generate rough error and data outage, and phase hit also occurs now and then.
Especially in real-time satellite satellite clock solution, the transformation of reference clock or datum station shortage of data are likely to cause in real time
The saltus step of satellite clock correction.Due to the tradition using sliding window, clock correction forecasting model is difficult to resist this clock correction exception in real time, because
This has studied the satellite clock correction real-time prediction algorithm for taking phase hit into account.
When phase hit occurs for satellite clock correction, constant offset occurs for phase, and frequency and frequency drift characteristic do not change
Become.Therefore, the mathematical model of description satellite clock correction phase hit can be expressed as：
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.
According to model above, satellite clock correction sequence variation is steady before and after phase hit, while the magnitude of phase hit is long-range
In the phase changing capacity of non-phase jumping moment adjacent epoch.When forecasting satellite clock correction using multinomial model, phase jump is encountered
Become, then the fitting precision of satellite clock correction is poor, the forecast clock correction precision that cannot often stablize.Therefore, in real-time GPS satellite
In clock correction forecast, reliable and stable forecast clock correction, designs a kind of GPS satellite in orbit not influenced by phase hit in order to obtain
Clock correction real-time prediction algorithm is meaningful.
Based on the mathematical model of BDS satellite clock correction phase hits, by comparing the standard deviation of fitting data section residual error
Automatically select an order polynomial or quadratic polynomial model, and take into account cyclically-varying trend term extraction and starting point it is inclined
The correction of difference, while observation weight matrix is determined according to the distance from forecast epoch, obtain taking into account the BDS satellites of phase hit
Clock correction forecasting model.
In formula, Δ a0For starting point correction for deflection, β parameter values are for 0 or 1 (when a fitting of a polynomial residual error standard deviation is small
When quadratic polynomial fit standard difference, β 0；Conversely, 1) β is, 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 correction, one
The new model that secondary or quadratic polynomial automatically selects.Although the model is not influenced by phase hit, it not can determine that
Phase hit time of origin.Therefore, on the basis of the BDS satellite clock correction forecasting models of phase hit are taken into account, it is a kind of accurate to build
The BDS real-time satellite clock correction prediction algorithms that moment occurs for detecting phase saltus step are very important.
According to the feature of GPS satellite clock correction phase hit, jumped with the fitting precision of clock correction to determine whether phase occurs
Become, whether steadily saltus step is positioned with the phase data at phase hit both ends, then in conjunction with the GPS satellite for taking phase hit into account
Clock correction forecasting model using recursive least square algorithm to clock correction real-time prediction, and then obtains one kind and takes phase hit detection into account
GPS real-time satellite clock correction prediction algorithms.
The present invention can realize that satellite clock correction calculation accuracy is assessed to verify, spy enumerates embodiment and verified.This reality
Example is applied to 20 survey station satellite clock solution accuracy evaluation of European Area, it is specific as follows：
Choose 2015, year day of year be 001~090 observation data, select European Area 20 be capable of providing high rate observation
The monitoring station of data carries out verification experimental verification as experiment centre point, and site name is： BOR1、BRST、EBRE、GOPE、GRAS、
GRAZ、JOZ2、LAMA、MADR、 MATE、NICO、ONSA、PADO、POTS、RABT、SOFI、SPTO、TLSE、 VILL、WTZR
BOR1 is selected to carry out the comparison of " second difference " with the subsequent precise clock corrections of COD (5s) as datum station, calculate its STD value, respectively
GPS satellite satellite clock solution accuracy evaluation figure is as shown in Figure 5.
Under fixed reference station condition, the accuracy evaluation result of 20 survey station of European Area 90 days (ns) is：STD=0.155；
1) 100 survey station satellite clock solution accuracy evaluation of Global Regional
Since Global Regional range is wider, high rate observation data are capable of providing so uniformly choosing in the world
100 survey stations carry out verification experimental verification as experiment centre point, and site name is：abpo、 adis、algo、alic、amc2、areq、
bogt、bor1、brst、bshm、cas1、chur、coco、 conz、cord、cro1、leij、uclu、daej、darw、dav1、
dgav、drao、fair、faiv、 ganp、gmsd、godz、gold、gope、gras、graz、guam、hert、hob2、 hofn、
hrao、iisc、ispa、jog2、joz2、kat1、kely、kir0、kit3、 kokb、kokv、kour、lama、lhaz、lpgs、
mac1、mal2、mas1、mate、 maw1、mbar、mcm4、mgue、mizu、mobs、nico、ntus、ohi3、onsa、palv、
pdel、pie1、pimo、pol2、pots、quin、rabt、reyk、 rio2、sant、sofi、spt0、sthl、str2、suth、
sutm、sutv、tabv、tid1、 tidb、tlse、tow2、unb3、usud、vill、wtzr、xmis、yar3、yell、 ykro、
zamb、zim2、zwe2。
The real-time clock correction on January 3 days 3,1 day to 2016 January in 2016 is chosen as a result, with the subsequent precise clock corrections of COD
(5s) carries out the comparison of " second difference ", calculates its STD value, on January 3rd, 2016 each GPS satellite satellite clock solution accuracy evaluation figure
As shown in Figure 6.
The accuracy evaluation result of 100 survey station of Global Regional 3 days (ns) is：STD=0.231 (ns).
2) real-time clock correction short-period forecast accuracy evaluation.
0 point to 6 points of January 1 in 2015, real-time clock correction forecast, as a result see the table below：
[table 1] real-time clock correction forecast precision statistical form
| Satellite | G01 | G02 | G03 | G04 | G05 | G06 |
| Precision | 0.021 | 0.025 | ---- | 0.017 | 0.015 | 0.012 |
| Satellite | G08 | G09 | G10 | G11 | G12 | G13 |
| Precision | 0.011 | ---- | 0.024 | 0.015 | 0.014 | 0.026 |
| Satellite | G15 | G16 | G17 | G18 | G19 | G20 |
| Precision | 0.014 | 0.0114 | ---- | 0.011 | 0.012 | ---- |
| Satellite | G22 | G23 | G24 | G25 | G26 | G27 |
| Precision | 0.011 | 0.044 | 0.016 | 0.009 | 0.021 | 0.011 |
| Satellite | G29 | G30 | G31 | G32 | ||
| Precision | 0.010 | 0.018 | 0.011 | 0.017 |
As can be seen from the above table, it is averagely forecast using the satellite clock correction real-time prediction algorithm 10s clock correction for taking phase hit into account
Precision is 0.016ns, and precision is higher.
By above-mentioned test result it can be found that satellite clock correction proposed by the present invention resolve and forecasting technique have it is higher
Precision.
To sum up, the method for the present invention passes through to having the prior-constrained real-time satellite clock bias estimation algorithm of troposphere and taking into account
The research of the satellite clock correction real-time prediction algorithm of phase hit, solves because of correlation between clock correction parameter and convection current layer parameter
The problem of inaccurate compared with algorithm caused by normal equation morbid state caused by strong and clock correction abnormal phenomenon.This technology has faster
Reaction speed, higher forecast precision.
It should be noted that described above is only the preferred embodiment of the present invention, it should be understood that for this field skill
For art personnel, several changes and improvements can also be made under the premise of the technology of the present invention design is not departed from, these all include
Within the scope of the present invention.
Claims (4)
1. the satellite clock correction based on real-time stream resolves and forecasting procedure, which is characterized in that includes the following steps：
Data prediction is carried out to the observation data of real-time stream, obtains pseudorange, carrier wave, smoothing pseudorange after data prediction
Pseudo-range Observations；
According to after the data prediction pseudorange, carrier wave, carrier phase smoothed pseudorange observation, set up non-differential mode type and between epoch it is poor
Sub-model, using several epoch troposphere parameter Estimations as prior information, in real time to satellite clock correction and receiver clock-offsets parameter,
Troposphere and fuzziness parameter carry out obtaining clock bias estimation information according to a preliminary estimate；And it utilizes and broadcasts clock correction data acquisition datum strip
Part constrains the benchmark of clock bias estimation, troposphere and fuzziness restriction on the parameters and clock correction reference data constraint under into
Row resolves satellite clock correction again, with the clock correction data resolved again；
Foundation fits forecasting model, and is stored respectively to reading in the clock correction data resolved again and broadcast clock correction data,
Real-time resolving clock correction and broadcast clock correction and model parameter are obtained, and selects broadcast clock correction corresponding with real-time prediction clock correction, is made
To fit the real-time clock (RTC) difference data of forecasting model and its rough error being detected, the elimination of rough difference that will be detected, for no rough error
Real-time clock (RTC) difference data using an order polynomial fit model carry out clock correction forecast.
2. the satellite clock correction according to claim 1 based on real-time stream resolves and forecasting procedure, which is characterized in that institute
State in method to the observation data of real-time stream carry out data prediction include observation data validity detection, real-time rough error and
Detection of Cycle-slip, data observation quality testing.
3. the satellite clock correction according to claim 1 based on real-time stream resolves and forecasting procedure, which is characterized in that institute
It states in method and is included using several epoch troposphere parameter Estimations as prior information：Being judged according to the clock bias estimation information should
The precision and succession troposphere and fuzziness prior information of epoch satellite clock solution, while repair current epoch troposphere and obscure
The DOP values of degree.
4. the satellite clock correction according to claim 1 based on real-time stream resolves and forecasting procedure, which is characterized in that institute
It states in method and satellite clock correction and receiver clock-offsets parameter, troposphere and fuzziness parameter is tentatively estimated using least square method
Meter.
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