CN108490463A - Clock correction estimation of deviation and modeling method between a kind of big-dipper satellite frequency - Google Patents
Clock correction estimation of deviation and modeling method between a kind of big-dipper satellite frequency Download PDFInfo
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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
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Abstract
The invention discloses clock correction estimation of deviation and modeling methods between a kind of big-dipper satellite frequency, include the following steps：For three frequency carrier observations data of the Big Dipper IFCB for including fuzziness parameter in each epoch is solved using no geometry without ionospheric combination observation model；In no observation segmental arc that cycle slip occurs, it is poor to make to the IFCB values of adjacent epoch, obtains difference between IFCB epoch；Selection suitably weighs model surely, and difference is weighted average between the epoch of the IFCB of three observation stations frequency MGEX of the Big Dipper of distribution on global, obtains difference between continuous continual IFCB epoch；It determines and refers to epoch, obtain based on the IFCB sequences with reference to epoch；It is modeled respectively using the IFCB of high-order harmonic wave function pair big-dipper satellite, IFCB model parameters is calculated, modelling effect and prediction effect are superior to the method for replacing current period IFCB values using previous cycle IFCB values.The present invention can realize the quick and precisely estimation of big-dipper satellite IFCB, establish stable IFCB models, promote the positioning accuracy and convergence time of three frequency PPP of the Big Dipper.
Description
Technical field
The present invention relates to Global Navigation Satellite System precision positioning technology field, clock correction between especially a kind of big-dipper satellite frequency
Estimation of deviation and modeling method.
Background technology
With the construction of the satellite systems such as BDS, Galileo and perfect, multi-frequency and multi-system has merged GNSS precision positionings
As the development trend of current GNSS precision positionings.Using different frequency observation, observation combination resolve obtained satellite clock correction it
Between have a certain difference.Galileo systems and three frequency signal inter-frequency deviation of QZSS systems show good stability, and
There is the deviation significantly changed over time between three frequency signal of GPS system and BDS systems.Therefore, using L1/L2 (B1/B2) group
The satellite clock correction (such as IGS analysis centers product) that observation is estimated is closed, L1/L5 (B1/B3) combinations are cannot be directly used to
Static Precise Point Positioning (Precise Point Positioning, PPP), there are a deviations, i.e. clock between satellite frequency therebetween
Poor deviation (inter-frequency clock bias, IFCB).In three frequency PPP, differ to eliminate this clock correction product
Deviation caused by cause property, while the operation load to mitigate in GNSS real time services, need quickly to estimate IFCB, and right
It is forecast.
Currently, for the method for estimation of IFCB, the main method using difference between epoch is obtained by eliminating fuzziness parameter
It to difference between IFCB epoch, then adds up and is reduced into the IFCB sequences based on reference to epoch, but the quantity and receiver of observation station
Quality, observing environment make a big impact to it.Observation station quantity is very few, and the reliability of the final checkout results of IFCB is poor, and
Continuity cannot ensure.To the specificity analysis of big-dipper satellite IFCB mainly for GEO satellite, on the one hand, be primarily due to MEO
The IFCB of satellite has significantly periodically, and sidereal day correlation also becomes apparent, this is conducive to the modeling of IFCB；Another party
Face, since big-dipper satellite is different around ground operation characteristic, observation station for IGSO and MEO satellite observation radian compared with GEO satellite
It is short, lead to that continuous, complete IFCB resolving values cannot be obtained, this will be unfavorable for the modeling of IGSO and MEO satellite IFCB.Using
The IFCB in previous period replaces the IFCB of current period although possible in theory, but can not solve due to caused by trend term
Product is unavailable caused by the inconsistent and IFCB valuations of front and back period IFCB discontinuously.
Invention content
Technical problem to be solved by the present invention lies in provide clock correction estimation of deviation and modeling side between a kind of big-dipper satellite frequency
Method can realize the quick and precisely estimation of the full constellation satellite IFCB of the Big Dipper, and can establish stable IFCB models, to promote north
Struggle against the positioning accuracy and convergence time of three frequency PPP.
In order to solve the above technical problems, clock correction estimation of deviation and modeling method between a kind of big-dipper satellite frequency of present invention offer,
Include the following steps：
(1) three frequency carrier observations data of the Big Dipper are solved using no geometry without ionospheric combination observation model in each epoch
Include the IFCB of fuzziness parameter；
(2) in no observation segmental arc that cycle slip occurs, to adjacent epoch t and t-1 carry out difference obtain it is poor between IFCB epoch
Score value；
(3) difference is weighted averagely between the epoch of the IFCB of n observation station of distribution on global；
(4) it selects starting epoch on the same day as epoch is referred to, obtains based on the IFCB sequences with reference to epoch；
(5) Big Dipper GEO, IGSO and MEO satellite are extracted respectively using Fast Fourier Transform (FFT) to the IFCB sequences that solve
IFCB periodic terms, establish the high-order harmonic wave function model of IFCB, and the harmonic parameters of each satellite are obtained using least square fitting.
Preferably, in step (1), the IFCB for including fuzziness parameter in each epoch is solved, calculation formula is：
In formula, δ IFCB；C is the light velocity；WithTo resolve to obtain without ionospheric combination observation using corresponding frequencies
Satellite clock correction；DIF (B1, B2, B3) for no ionospheric combination B1/B2 and B1/B3 difference；NDIFFor the linear combination of fuzziness,
Receiver end phase deviation is wherein contained, and assumes that it is remained unchanged whithin a period of time；Phase is considered in formula (1) to twine
Error term around, satellite and the correction of receiver end antenna phase center etc. with frequency dependence.
Preferably, in step (2), difference value between IFCB epoch, expression formula is：
Δ δ (t, t-1)=DIF (B1, B2, B3) (t)-DIF (B1, B2, B3) (t-1) (2).
Preferably, in step (3), difference is weighted average between the epoch of the IFCB of n observation station of distribution on global,
Obtain following result：
In formula, wk(t, t-1) the corresponding weights of IFCB differences, weighting formula between different survey station epoch be：
In formula, E (t, t-1) is the average value of t moment and t-1 moment elevation of satellite；ρ is geometry of the satellite to observation station
Distance；S is zoom factor, and expression formula is：
In formula, SNRB1、SNRB2And SNRB3The respectively signal-to-noise ratio of B1, B2 and B3 frequency range.
Preferably, it in step (4), selects starting epoch on the same day as epoch is referred to, can obtain based on reference to epoch
IFCB sequences, expression formula are：
In formula, δ (t0) it is with reference to epoch t0The satellite IFCB at moment；Δ δ (p, p-1) IFCB between two neighboring epoch are poor
Value.
Preferably, in step (5), to the IFCB sequences that solve using Fast Fourier Transform (FFT) extract respectively Big Dipper GEO,
The IFCB periodic terms of IGSO and MEO satellite establish the high-order harmonic wave function model of IFCB, and the harmonic parameters of each satellite are using most
Small two, which multiply fitting, obtains, and harmonic function expression formula is：
In formula, a, b are linear trend item；I is the exponent number of harmonic function；TiFor the period；λiFor amplitude；θiFor phase；Wherein
The IFCB models of GEO and IGSO satellites are quadravalence harmonic function, and the IFCB models of MEO satellite are five order harmonics functions.
Beneficial effects of the present invention are：Clock correction estimation of deviation and modeling side between a kind of big-dipper satellite frequency proposed by the present invention
Method, this method utilize three frequency carrier observations of difference between epoch, eliminate fuzziness parameter, improve the computing speed of IFCB；
Using model is suitably weighed surely, average, on the one hand enhancing is weighted to the IFCB estimated values of a large amount of observation stations of distribution on global
The reliability of IFCB, has on the other hand ensured the continuity of IFCB；The IFCB models for re-establishing IGSO and MEO satellite, obtain
To the high-order harmonic wave function model of the full constellation satellite IFCB of the Big Dipper, the IFCB products obtained using the model can promote the Big Dipper three
The positioning accuracy and convergence time of frequency PPP.
Description of the drawings
Fig. 1 is the method flow schematic diagram of the present invention.
Fig. 2 is the IFCB spectrum diagrams of present invention experiment Big Dipper GEO satellite used.
Fig. 3 is the IFCB spectrum diagrams of present invention experiment Big Dipper IGSO and MEO satellite used.
Fig. 4 is the modelling effect schematic diagram of present invention experiment gained Big Dipper GEO satellite IFCB.
Fig. 5 is the modelling effect schematic diagram of present invention experiment gained Big Dipper IGSO satellites IFCB.
Fig. 6 is the modelling effect schematic diagram of present invention experiment gained Big Dipper MEO satellite IFCB.
Fig. 7 is the improvement effect schematic diagram of IFCB couples of three frequency PPP of present invention experiment gained big-dipper satellite.
Specific implementation mode
As shown in Figure 1, clock correction estimation of deviation and modeling method between a kind of big-dipper satellite frequency, are as follows：
Step (1), three frequency carrier observations data of the Big Dipper are solved each using no geometry without ionospheric combination observation model
Include the IFCB of fuzziness parameter in epoch, calculation formula is：
In formula, δ IFCB；C is the light velocity；WithTo resolve to obtain without ionospheric combination observation using corresponding frequencies
Satellite clock correction；DIF (B1, B2, B3) for no ionospheric combination B1/B2 and B1/B3 difference；NDIFFor the linear combination of fuzziness,
Receiver end phase deviation is wherein contained, and assumes that it is remained unchanged whithin a period of time.In order to preferably remove IFCB,
The error term with frequency dependence such as phase winding, satellite and the correction of receiver end antenna phase center is considered in formula (1).
Step (2), in no observation segmental arc that cycle slip occurs, IFCB can be obtained by carrying out difference to adjacent epoch t and t-1
Difference value between epoch, expression formula are：
Δ δ (t, t-1)=DIF (B1, B2, B3) (t)-DIF (B1, B2, B3) (t-1) (2)
If cycle slip occurs, terminate and made difference with a upper epoch and by its zero setting, re-search for next epoch, adjacent epoch after
It is continuous to make difference.
Step (3), difference is weighted average between the epoch of the IFCB of n observation station of distribution on global, is obtained as follows
As a result：
In formula, wk(t, t-1) corresponding weights of IFCB differences between different survey station epoch.Receiver quality and observation ring
There is the result of IFCB in border bigger influence, therefore the observation station for participating in resolving is more, and reliability as a result is higher.The Big Dipper is defended
Star navigation system space segment is by geostationary orbit (GEO), inclination geostationary orbit (IGSO) and Medium-Earth Orbit (MEO) three
The satellite of kind track forms, and has different property between different orbiters, and the signal quality between different frequent points also has
Difference is determined power model all and cannot be described the matter of different orbiter observations well based on elevation of satellite and signal-to-noise ratio
Amount.Therefore the present invention using a kind of combination elevation angle, the difference of different frequent points signal-to-noise ratio and defends the mixing of distance and weighs method surely, expresses
Formula is：
In formula, E (t, t-1) is the average value of t moment and t-1 moment elevation of satellite；ρ is geometry of the satellite to observation station
Distance；S is zoom factor, and expression formula is：
In formula, SNRB1、SNRB2And SNRB3The respectively signal-to-noise ratio of B1, B2 and B3 frequency range.
Step (4) selects starting epoch on the same day as epoch is referred to, and can obtain based on the IFCB sequences with reference to epoch,
Expression formula is：
In formula, δ (t0) it is with reference to epoch t0The satellite IFCB at moment；Δ δ (p, p-1) IFCB between two neighboring epoch are poor
Value.Finally obtained IFCB sequences can include a droop item.It, can with reference to the IFCB deviations of epoch in PPP positioning calculations
It is absorbed with degree of being blurred, does not influence the last positioning result of float-solution.
Step (5) is extracted the Big Dipper GEO, IGSO and MEO using Fast Fourier Transform (FFT) to the IFCB sequences solved and is defended respectively
The IFCB periodic terms of star, establish the high-order harmonic wave function model of IFCB, and the harmonic parameters of each satellite utilize least square fitting
It obtains, harmonic function expression formula is：
In formula, a, b are linear trend item；I is the exponent number of harmonic function；TiFor the period；λiFor amplitude；θiFor phase.Wherein
The IFCB models of GEO and IGSO satellites are quadravalence harmonic function, and the IFCB models of MEO satellite are five order harmonics functions.
In order to study the IFCB characteristics of big-dipper satellite comprehensively, lead to local for the feature in orbit of Big Dipper MEO satellite
Observe the shorter problem of segmental arc, the observation data that experiment is stood using 44, the whole world MGEX that can receive Big Dipper three frequency signal.It is right
In January, 2017 and 2 months, the observation data of (DOY 1-59) were resolved, data sampling rate 30s.To ensure to observe data matter
Amount, satellite altitude angle of cut-off are set as 10 °.
Periodic term extraction, phase are carried out to the IFCB sequences of 14 satellites of Beidou II using Fast Fourier Transform (FFT) (FFT)
The frequency spectrum answered is as shown in Figures 2 and 3.The wave crests of GEO satellite IFCB frequency spectrums corresponds to four periodic terms, respectively for 24 hours, 12h, 8h and
6h, this is consistent with the result of document [9].C02 satellites do not have apparent wave crest, do not have identical with other four GEO satellites
Cyclophysis, it is difficult to establish periodic model.The periodicity of IGSO satellites IFCB is consistent with GEO satellite, respectively for 24 hours,
12h, 8h and 6h.For MEO satellite, the periodic term of IFCB is respectively 167.53h, 27.56h, 12.88h, 8.8h, 6.46h.
The Big Dipper GEO, IGSO and MEO satellite are respectively 23.9358h, 23.9345h and 12.8871h around ground orbital period that is averaged, this with
The corresponding periodic term of maximum wave crest is substantially coincident in spectrogram, this shows that high-order harmonic wave function can describe IFCB well
This variation characteristic.
The IFCB fitting effects of GEO and IGSO satellites are as shown in Figure 4 and Figure 5, for convenience by models fitting value with it is original
Value is compared, and interrupt processing is also taken to models fitting value at original value interruption.It can be seen that the IFCB moulds of GEO satellite
Type effect is best, and the wherein related coefficient and its coefficient of determination of 9 days IFCB predicted values of C01 satellites and original value is respectively
0.957 and 0.915.The IFCB modelling effects of IGSO satellites are then not so good as the former, and the mean value of corresponding index is respectively 0.742 He
0.434.On the one hand, the IFCB values of IGSO satellites have a large amount of exceptional values not as good as the former stabilization in addition to C06 satellites；Another party
Face, nearly 20 days predicted time spans can have adverse effect on fitting effect, some satellites with the time variation its
Apparent variation (the IFCB amplitudes and trend of such as C06 satellites) has occurred in IFCB characteristics.C05 satellites are due to observation signal
It is second-rate, cause its IFCB resolving value very unstable, and since the 42nd day, the amplitude of IFCB increased dramatically.No. C08 is defended
The magnitude of star IFCB is minimum, but exceptional value is more, is equally also unfavorable for modeling and forecasting.
Decay in order to which whether the fitting effect of research model changes over time, the IFCB of above-mentioned two classes satellite is predicted
Partial data is divided into 9 periods, calculates separately its related coefficient and its coefficient of determination with IFCB original values.Experiment shows
Apparent decaying does not occur at any time for the IFCB predicted values of C01, C03 and C04 satellite two indexs, and height is presented in model
Stability is suitable for long-term forecasting.The IFCB predicted values of C09, C13 satellite have with the related coefficient of corresponding original value slightly to decline
Subtract trend, and the performance of C06, C07, C10 satellite is preferable.The coefficient of determination of IGSO satellites is irregular in day part, on the whole
Downward trend is shown, shows that the ability of model long-term forecasting is weak compared with GEO satellite model, but long-term forecasting performance is better than before using
The method that one period IFCB value replaces current period IFCB values.
Fig. 6 is the fitting effect of the MEO satellite IFCB obtained using 5 order harmonics function models, the correlation of predicted portions
Coefficient and coefficient of determination are all not so good as GEO and IGSO satellites, mainly since its IFCB value is unstable and periodically not notable institute
Cause, but its same effect is better than the method for replacing current period IFCB values using previous cycle IFCB values.
To established IFCB function models, also need to carry out validation verification.Estimated using model in the present invention
IFCB, observation data of 3 observation stations preferable to Asian-Pacific area big-dipper satellite observation condition on January 30th, 2017 carry out
PPP is tested, and scheme one is not to be three frequency PPP of IFCB corrections, and scheme two is three frequency PPP being added after IFCB corrections, to the two
Positioning accuracy and convergence time compared, wherein positioning result such as Fig. 7 institute of the observation stations MRO1 on tri- directions N, E, U
Show.For positioning accuracy using the RMS value of the same day last 15 minutes position errors after Kalman filter convergence, convergence time is positioning
Error was less than 10cm and at moment epoch being constantly in later in the error range.Experiment shows to be added after IFCB corrections
Three frequency PPP positioning accuracies have a promotion in three directions, the average positioning accuracy in three stations, tri- directions N, E, U is promoted respectively
45.7%, 8.6% and 43.1%；Convergence time, without promotion, has a degree of promotion in in-plane in elevation direction.
Clock correction estimation of deviation and modeling method between a kind of big-dipper satellite frequency proposed by the present invention, can realize the full constellation of the Big Dipper
The quick and precisely estimation of satellite IFCB, and stable IFCB models can be established, to promoted three frequency PPP of the Big Dipper positioning accuracy and
Convergence time.
Claims (6)
1. clock correction estimation of deviation and modeling method between a kind of big-dipper satellite frequency, which is characterized in that include the following steps：
(1) three frequency carrier observations data of the Big Dipper solve in each epoch using no geometry without ionospheric combination observation model and include
The IFCB of fuzziness parameter；
(2) in no observation segmental arc that cycle slip occurs, difference is carried out to adjacent epoch t and t-1 and obtains difference value between IFCB epoch；
(3) difference is weighted averagely between the epoch of the IFCB of n observation station of distribution on global；
(4) it selects starting epoch on the same day as epoch is referred to, obtains based on the IFCB sequences with reference to epoch；
(5) IFCB of the Big Dipper GEO, IGSO and MEO satellite is extracted respectively using Fast Fourier Transform (FFT) to the IFCB sequences that solve
Periodic term, establishes the high-order harmonic wave function model of IFCB, and the harmonic parameters of each satellite are obtained using least square fitting.
2. clock correction estimation of deviation and modeling method between big-dipper satellite frequency as described in claim 1, which is characterized in that step (1)
In, the IFCB for including fuzziness parameter in each epoch is solved, calculation formula is：
In formula, δ IFCB；C is the light velocity；WithTo be defended without what ionospheric combination observation resolved using corresponding frequencies
Star clock correction；DIF (B1, B2, B3) for no ionospheric combination B1/B2 and B1/B3 difference；NDIFFor the linear combination of fuzziness, wherein
Receiver end phase deviation is contained, and assumes that it is remained unchanged whithin a period of time；Phase winding is considered in formula (1), is defended
The error term with frequency dependence such as star and the correction of receiver end antenna phase center.
3. clock correction estimation of deviation and modeling method between big-dipper satellite frequency as described in claim 1, which is characterized in that step (2)
In, difference value between IFCB epoch, expression formula is：
Δ δ (t, t-1)=DIF (B1, B2, B3) (t)-DIF (B1, B2, B3) (t-1) (2).
4. clock correction estimation of deviation and modeling method between big-dipper satellite frequency as described in claim 1, which is characterized in that step (3)
In, difference is weighted average between the epoch of the IFCB of n observation station of distribution on global, obtains following result：
In formula, wk(t, t-1) the corresponding weights of IFCB differences, weighting formula between different survey station epoch be：
In formula, E (t, t-1) is the average value of t moment and t-1 moment elevation of satellite；ρ be satellite to observation station geometry away from
From；S is zoom factor, and expression formula is：
In formula, SNRB1、SNRB2And SNRB3The respectively signal-to-noise ratio of B1, B2 and B3 frequency range.
5. clock correction estimation of deviation and modeling method between big-dipper satellite frequency as described in claim 1, which is characterized in that step (4)
In, it selects starting epoch on the same day as epoch is referred to, can obtain based on the IFCB sequences with reference to epoch, expression formula is：
In formula, δ (t0) it is with reference to epoch t0The satellite IFCB at moment；Δ δ (p, p-1) IFCB differences between two neighboring epoch.
6. clock correction estimation of deviation and modeling method between big-dipper satellite frequency as described in claim 1, which is characterized in that step (5)
In, extract the IFCB periods of the Big Dipper GEO, IGSO and MEO satellite respectively using Fast Fourier Transform (FFT) to the IFCB sequences that solve
, the high-order harmonic wave function model of IFCB is established, the harmonic parameters of each satellite are obtained using least square fitting, harmonic function
Expression formula is：
In formula, a, b are linear trend item；I is the exponent number of harmonic function；TiFor the period；λiFor amplitude；θiFor phase；Wherein GEO
IFCB models with IGSO satellites are quadravalence harmonic function, and the IFCB models of MEO satellite are five order harmonics functions.
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