CN108563108A - A kind of GNSS satellite clock health status monitoring method - Google Patents
A kind of GNSS satellite clock health status monitoring method Download PDFInfo
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Abstract
The invention discloses a kind of GNSS satellite clock health status monitoring methods, utilize a variety of satellite clock correction data, effectively verification can be carried out between each other to satellite clock abnormality, it solves the problems, such as to cause all kinds of abnormal phenomenon fault location hardly possiblies of satellite clock, false alarm, difficult early warning and poor in timeliness, realizes the long-term real-time monitoring of satellite clock health status.Step by the invention is：By primary, second order difference precise clock correction data obtain frequency and drift rate data, utilize median method detecting phase, frequency hopping；Long-time phase residual error, residual error standard deviation are obtained using quadratic polynomial fitting clock correction；The frequency stability of satellite clock is counted using overlapping Hadamard Variance；Overall merit finally is carried out to indices, provides the warning information of the variation of satellite clock performance and the warning information of frequency, phase hit.The result shows that：It is feasible to use the satellite atomic clock health status monitoring method of phase-fitting residual error based on multiple data sources.
Description
Technical field
The present invention relates to a kind of GNSS satellite clock health status monitoring methods, suitable for global continuous monitoring and evaluating system
Satellite clock Performance Evaluation, satellite clock status monitoring and quality evaluation.
Background technology
GNSS be by the time measure based on system, important payload of the satellite atomic clock as system, be maintain
The core of high-precision time-frequency is to generate time reference on navigation signal and the star of range measurement, and performance directly determines navigation, determines
The quality of position and time service.Behind first atomic clock heaven in 1974, so far in the atomic clock in space there are about more than 500, star
Carrying atomic clock mainly has three kinds of caesium clock, rubidium clock and hydrogen clock, and for these atomic clocks by constantly developing, satellite clock performance has length
The improvement of foot.Rubidium atomic clock is applied in GPS, BDS and Galileo constellation, and cesium-beam atomic clock is applied in GPS and GLONASS constellations
In, hydrogen clock is then applied to Galileo constellations and emits recently in the whole world the BDS experiment constellation entered the orbit.Every in constellation is defended
Star is all at least loaded with two atomic clocks, using it as all with the time in relation to the reference of operation.
What BDS satellite in orbit carried is domestic rubidium atomic clock, compared to GPS and Galileo satellite atomic clocks, precision
It is slightly shown with stability inferior.With the construction of China's Big Dipper global system, the development of new high-precision atomic clock and come into operation,
The performance of satellite atomic clock can further be promoted.In the Big Dipper whole world experimental system in China, spaceborne hydrogen clock has been used.According to grinding
Technology requirement processed, property indices 1~2 order of magnitude higher than the index of spaceborne rubidium clock of spaceborne high precision hydrogen atomic clock.
Can how is high-precision spaceborne hydrogen clock on-orbit performance, has with the gap of external navigational satellite system much, be used for high-precision
Satellite navigation system is that China's Beidou satellite navigation system construction needs urgently solve the problems, such as.Simultaneously as Big Dipper system of China
System is heterogeneous constellation, uses the satellite type of three kinds of multiple orbital attitudes and function, causes satellite atomic clock in satellite constellation
Clock correction precision shows inhomogeneities.In addition the formal enabling of Beidou satellite navigation system, the characteristic index of satellite atomic clock exist
Also due to the reasons such as the variation of apparatus factor and external environment and orbit adjusting influence during operation, the clock correction of output
There is clock to jump, the unsound abnormal conditions such as rough error.The unhealthy situation of these satellite clocks has for other navigation system
Have the characteristics that burst, discontinuous etc. are new.It, can be to navigator fix if cannot extremely carry out effectively monitoring and prejudging to these
The actual utility of service causes very big interference.
In recent years, with the modernization of GLONASS satellite navigation system, GLONASS satellite clock is all updated to
GLONASS-M type satellite clocks.Meanwhile GPS satellite navigation system has also stepped into ageing stage, wherein still in the GPS of military service
The average operating time of BLOCK IIA type satellite clocks has been more than 18 years.Greatly developing Beidou II satellite navigation system in China
System, at present have 14 Satellite Networkings simultaneously Asian-Pacific area 24-hour service is provided, respectively include 5 satellites, 5
Tilt geo-synchronous orbit satellite, 4 Medium Earth-Orbiting Satellites.Big Dipper satellite in orbit clock is rubidium atomic clock, earliest when transmitting
Between be on 01 17th, 2010, away from the present existing 7 years, launch time is on October 25th, 2012 the latest, away from it is modern also existing will
Nearly 5 years time.Occupy vital status in satellite navigation system in view of satellite clock, in order to ensure satellite navigation and positioning
The quality and stabilization of service, it is necessary to evaluation be carried out to the characteristic of GNSS satellite in orbit clocks and comparative analysis, look-ahead are respectively defended
The health status of star clock.
The index of GNSS satellite in orbit clock health status includes mainly：Phase, frequency, frequency drift, stability, clock correction observation are made an uproar
Sound etc..In the During Process of Long-term Operation of satellite clock, due to being influenced by own physical characteristic changing and complicated space electromagnetic environment
Interference, often will produce rough error, the abnormal disturbances such as data outage.Therefore Real Time Monitoring is carried out to satellite clock, found in time
Abnormal phenomenon, and rapid positioning failure and processing have extremely important effect.Currently, both at home and abroad to satellite atomic clock health shape
The analysis of state, in terms of having focused largely on a certain characteristic, there is no form more comprehensive satellite atomic clock Performance Evaluation System；Its
Secondary, existing achievement in research is based primarily upon the analysis and assessment of several days to tens days data progress short periods, long period
The correlative study report of section Performance Evaluation is relatively fewer；Again, current satellite atomic clock analysis only gives quality and comments afterwards
Valence and failure cause meet, and do not carry out prolonged monitoring in real time, fail the early warning for providing the deterioration of satellite clock health status.
Invention content
The technology of the present invention solves the problems, such as：The present invention is secondary multinomial using phase based on a variety of satellite precise clock correction data
The satellite atomic clock health status monitoring method of formula regression criterion can detect satellite clock using a variety of satellite clock correction data
The problem of carry out between each other effectively verification, solve cause all kinds of abnormal phenomenon fault location hardly possible of satellite clock, false alarm, it is difficult in advance
The problem of alert and poor in timeliness, realize the long-term real-time monitoring of satellite clock health status.
The technical scheme is that：
A kind of GNSS satellite clock health status monitoring method, specifically includes following steps：
Step 1, the precise clock correction data for obtaining GNSS satellite clock carry out first difference processing to precise clock correction data, obtain
Obtain the frequency data of satellite clock；
Step 2, Detection of Gross Errors is carried out to clock correction and frequency data respectively using median method, by clock correction Detection of Gross Errors come
Phase hit is determined whether, by frequency data Detection of Gross Errors to determine whether being frequency hopping；
Step 3, first difference processing is carried out to frequency data, obtains frequency drift rate data,；
Step 4, quadratic polynomial fitting in single day is taken day by day to prolonged precise clock correction data, by the clock correction after fitting
Value makes the difference with original precise clock correction value, can obtain prolonged phase residual error, and single day std is carried out to prolonged phase residual error
Statistics obtains prolonged residual error standard deviation；
Step 5, the frequency stability that daily satellite clock is counted using overlapping Hadamard Variance, to the indices of satellite clock
Carry out overall merit, obtain the Secular Variation Tendency of satellite clock, so provide the variation of satellite clock performance warning information and
The warning information of frequency, phase hit.
As a kind of further preferred scheme of GNSS satellite clock health status monitoring method of the present invention, step 2 tool
Steps are as follows for body：
Step 2.1, the satellite clock correction phase data of Dan Tian is read, and is converted to frequency data；
Step 2.2, rough error is detected using n times of median method, the specific formula of median method is as follows：
MAD=Median | yi-m|/0.6745}
In formula, m is the mediant of time series, i.e. m=Median { yi}；Work as observed quantity | yi- m | when ＞ n*MAD, just recognize
For when rough error point；
Step 2.3, if satellite clock correction, frequency rough error are very big, and slowly reduce with the increase of n, then it is assumed that occur
Phase modulation, frequency modulation or phase hit, frequency hopping will be alerted with short message, phone, mail；
Step 2.4, if satellite clock correction, frequency rough error are very big, but substantially reduce with the increase of n, then it is assumed that clock correction, frequency
Rate data have larger fluctuation, and the state of satellite clock is judged with this.
As a kind of further preferred scheme of GNSS satellite clock health status monitoring method of the present invention, in step 4, two
The step of order polynomial is fitted is specific as follows：
Step 4.1, the clock correction data of Dan Tian are fitted using quadratic polynomial, the specific formula of quadratic polynomial is：
Δti=a0+a1(t-t0)+a2(t-t0)+a2(t-t0)2
In formula, a0、a1、a2Respectively phase, frequency and frequency drift；T0 is the reference epoch of star clock parameter, Δ tiFor clock correction phase
Position observation；
Step 4.2, make difference with fitting clock correction value and original clock correction value and obtain phase residual error；
Step 4.3, extraction quadratic polynomial constant term a0For phase, extraction quadratic polynomial first order a1For frequency, carry
Take quadratic polynomial quadratic term a2For drift rate；
Step 4.4, standard deviation is calculated to the phase residual error value of Dan Tian, spectrum analysis is carried out to phase residual error value, obtains week
Phase carried out fitting of a polynomial forecast to more days residual error standard deviations；
Step 4.5, according to the trend and early warning for having given threshold decision satellite clock performance.
As a kind of further preferred scheme of GNSS satellite clock health status monitoring method of the present invention, in steps of 5, profit
The frequency stability of daily satellite clock is counted with overlapping Hadamard Variance, it is specific as follows：
Step 5.1, the frequency data of excluding gross error are obtained；
Step 5.2, frequency data are converted into phase data；
Step 5.3, the frequency stability of each satellite is calculated using the overlapping Hadamard Variance with higher confidence space,
Overlapping Hadamard Variance specific formula be：
In formula, τ=m τ0For smoothingtime；τ0For the sampling interval of adjacent clock correction data；xiFor clock correction data；N is clock correction
The number of data；M is smoothing factor, generally takes 1≤m≤[(N-1)/3]；
Step 5.4, single day phase data is calculated using overlapping Hadamard Variance and obtains ten thousand seconds stabilitys.
The present invention has the following advantages that compared with prior art：
(1) the real-time monitoring that satellite clock health status is realized using prolonged a variety of precise clock correction data, is realized
Satellite clock health status is mutually authenticated in different reference datas, improves the reliability of satellite clock alarm；
(2) it is based on median detection and phase and frequency data is used in combination, realize the standard of phase rough error and frequency rough error
Determine position；
(3) when clock correction data prediction, the rough error value of detection is directly deleted without interpolation, prevents from introducing after interpolation
New data causes distortion to a certain extent；
(4) it is based on phase quadratic polynomial regression criterion, when residual error standard deviation data is analyzed, phase data is without data
Pretreatment, can monitor the situation of change at phase data each moment, realize phase hit, the real-time report of frequency hopping failure
It is alert, the warning function of satellite clock performance health status change in long term；
(5) correlation of each index situation of change of satellite clock health status is given；
(6) phase of satellite clock correction, frequency, drift rate, stability, the long-term spy of many indexes such as phase residual error are combined
Sign, gives the comprehensive performance evaluation of satellite clock health status；
(7) present invention can apply to Global Satellite Navigation System monitoring and evaluation satellite clock correction data processings, by obtaining in real time
Satellite precise clock correction data are taken, assess its performance quality, monitor the various abnormal conditions of satellite clock, rapid position location satellite clock failure,
By the analysis of long-time satellite clock indices, early warning is provided to satellite clock health status, the invention is right to a certain extent
Ensure that the integrity of satellite navigation system is made that contribution.
Description of the drawings
Fig. 1 is data receiver of the present invention and process flow general frame figure；
Fig. 2 is GNSS satellite atomic clocks health status monitoring and quality evaluation route map；
Fig. 3 is GNSS satellite atomic clock health status monitoring method flow chart of data processing；
Fig. 4 is satellite clock correction phase change tendency chart；
Fig. 5 is satellite clock frequency data trend chart；
Fig. 6 is satellite clock frequency drift rate trend chart；
Fig. 7 is satellite clock frequency stability trend chart；
Fig. 8-1 is 2016 to 2017 satellite clock correction phase residual error trend charts of Big Dipper C06 satellites；
Fig. 8-2 is 2016 to 2017 satellite clock correction phase residual error trend charts of Big Dipper C13 satellites；
Fig. 9-1 is 2016 to 2017 satellite clock correction phase residual error standard deviation trend charts of Big Dipper C06 satellites；
Fig. 9-2 is 2016 to 2017 satellite clock correction phase residual error standard deviation trend charts of Big Dipper C13 satellites；
Figure 10 is satellite clock phase hit, frequency hopping warning information.
Specific implementation mode
Below in conjunction with the accompanying drawings 3 and specific embodiment the invention will be further elaborated.
As shown in figure 3, the technical scheme is that：A kind of GNSS satellite clock health status monitoring method, specific implementation
Step：
Step 1, it obtains in Wuhan University wum precise clock corrections data, Germany GFZ gbm precise clock corrections data, product synthesis
Heart isc precise clock correction data：
Step 2, the precise clock correction data of all survey stations are started the cycle over；
Step 3, first day precise clock correction is selected to be handled；
Step 4, phase data quadratic polynomial is fitted, and specific sub-step wherein included is：
1.1 are fitted single day clock correction data using quadratic polynomial, and the specific formula of quadratic polynomial is：
Δti=a0+a1(t-t0)+a2(t-t0)+a2(t-t0)2
A in formula0、a1、a2Respectively phase, frequency and frequency drift；t0For the reference epoch of star clock parameter, Δ tiFor clock correction phase
Observation.
1.2 make difference with fitting clock correction value and original clock correction value obtains phase residual error；
1.3 extraction quadratic polynomial constant term a0For phase；
1.4 extracting quadratic polynomial first order a1For frequency；
1.5 extracting quadratic polynomial quadratic term a2For drift rate；
The phase residual error value of 1.6 couples of Dan Tian calculates standard deviation；
1.7 pairs of phase residual error values carry out spectrum analysis, obtain periodic term；
More than 1.8 pairs days residual error standard deviation carries out fitting of a polynomial forecast；
1.9 according to the trend and early warning for having given threshold decision satellite clock performance.
Step 5, clock correction data median method detects rough error, and specific sub-step wherein included is：
1.1 read the satellite clock correction phase data of Dan Tian；
1.2 detect rough error using n times of median method, and the specific formula of median method is as follows：
MAD=Median | yi-m|/0.6745}
In formula, m is the mediant of time series, i.e. m=Median { yi }；Work as observed quantity
|yi- m | when ＞ n*MAD, rough error point when being considered as；
If 1.3 satellite clock correction rough errors are very big, and slowly reduce with the increase of n, then it is assumed that phase modulation or phase occur
Saltus step will be alerted with short message, phone, mail；
If 1.4 satellite clock correction rough errors are very big, but substantially reduce with the increase of n, then it is assumed that clock correction data have larger
Fluctuation, the state of satellite clock is judged with this.
Step 6, rough error data remove；
Step 7, clock correction data first difference obtains frequency data；
Step 8, frequency data median method detects rough error, and specific sub-step wherein included is：
1.1 read the satellite frequency data of Dan Tian；
1.2 use n times of median method look-in frequency rough error；
If 1.3 satellite clock frequency rough errors are very big, and slowly reduce with the increase of n, then there is frequency modulation or frequency in task
Rate saltus step will be alerted with short message, phone, mail；
If 1.4 satellite clock frequency rough errors are very big, but substantially reduce with the increase of n, then it is assumed that frequency data have larger
Fluctuation, the state of satellite clock is judged with this.
Step 9, frequency data first difference obtains frequency drift rate data；
Step 10, frequency data carry out overlapping hadamard variance calculating, obtain frequency stabilization degrees of data, tool wherein included
Body sub-step is：
1.1 obtain the frequency data of excluding gross error；
Frequency data are converted to phase data by 1.2；
1.3 calculate the frequency stability of each satellite, overlapping using the overlapping Hadamard Variance with higher confidence space
The specific formula of Hadamard Variance is：
In formula, τ=m τ0For smoothingtime；τ0For the sampling interval of adjacent clock correction data；xi
For clock correction data；N is the number of clock correction data；M is smoothing factor, is generally taken
1≤m≤[(N-1)/3]。
1.4 single days phase datas are calculated using overlapping Hadamard Variance and obtain ten thousand seconds stabilitys.
Step 11, in satellite clock correction indices result storage to document in single day；
Step 12, in the indices storage to document in more days of a variety of satellite clock correction data；
Step 13, satellite clock correction indices long-term trend performance evaluation；
Step 14, the result of satellite clock performance evaluation abnormal conditions multiple data sources is mutually authenticated；
Step 15, comprehensive a variety of data, after many indexes analysis, to satellite clock abnormal conditions by short message, Email,
Phone carries out alarm and early warning.
The present invention is further described with real-time example below in conjunction with the accompanying drawings.
As shown in Figure 1, in GNSS satellite clock health status monitoring data receiver and data processing general frame figure, from upper
Down, first part is the GNSS navigation satellites of space segment, and second part is Universal Terrestrial monitoring station, and monitoring is disposed with GNSS and leads
Boat receiver, time-frequency equipment etc., receive down navigation signal, the observation data that earth station will be collected into, ephemeris number from satellite
According to data center is sent to, data center is formatted pretreatment to initial data, finally by the data for format of seeking unity of standard
It is sent to analysis center, analysis center obtains satellite clock precision by the algorithm of multi satellites joint precise orbit determination and time synchronization
Clock correction.GNSS precise clock correction product data are sent to monitoring and evaluation center by analysis center, and monitoring and evaluation is centrally through work station
Data storage is got up, GNSS precise clock correction data are pre-processed and handled by software module, finally obtain satellite clock
The indexs such as phase, frequency, drift rate, stability, phase residual error, residual error standard deviation, the periodic term of difference, by satellite clock health shape
The overall merit of state assessment algorithm, provides satellite clock phase hit, and the warning information of the abnormal conditions such as frequency hopping provides satellite
The warning information that the variation tendency and performance of performance decline.These assessment information and warning message are finally sent to user.
Fig. 2 is GNSS satellite atomic clocks health status monitoring and quality evaluation route map, and specific introduction is referring to invention content
In technical solution.
Fig. 3 is GNSS satellite atomic clock health status monitoring method flow chart of data processing, specific to introduce referring to above-mentioned specific
Embodiment.
Fig. 4 is satellite clock correction phase change tendency chart, and as can be seen from the figure there are apparent phase hits to show for satellite clock
As frequently there is this phenomenon of phase hit, being extremely disadvantageous to maintaining the stability of atomic clock.
Fig. 5 is satellite clock frequency data trend chart, and as can be seen from the figure there is always apparent frequency hoppings to show for satellite
As satellite clock long run frequency data variation trend represents the systematic error size of the i.e. satellite clock of frequency accuracy of satellite clock.
Fig. 6 is satellite clock frequency drift rate trend chart, and during frequency drift rate is atomic clock operation, frequency is at any time
Change the rate generated, represent the frequency aging rate of satellite clock, it is the parameter for describing atomic frequency variation characteristic.
Fig. 7 is frequency stability trend chart.
Fig. 8-1 and Fig. 8-2 is Big Dipper C06 and C13 satellite clock phase residual error trend chart, the frequency of satellite atomic clock
Stability directly determines that the noise level of satellite clock correction model, the two have certain mathematical function relationship.From Fig. 8-1, Fig. 8-2 can
To find out C06 satellites, for C13 satellites before switching clock, satellite clock performance is poor.
Fig. 9-1 and Fig. 9-2 is Big Dipper C06 and C13 satellite clock phase residual error standard deviation trend chart, by daily
Phase residual error normal data be fitted and forecast, value and the threshold value inputted are compared according to weather report, are predicted
The duration that satellite clock performance declines, and provide early warning.It can be seen that C13 satellite clocks at 01 month 2017 years from Fig. 9-1, Fig. 9-2
After No. 20 switchings, after the switching of the satellite clock of on February 14th, 2017, satellite clock performance tends towards stability C06.
Figure 10 is satellite clock phase hit, the short message alarm content of frequency hopping, including satellite clock PRN, when failure
Between, fault type, failure cause, failure rank.
The present invention is that the spaceborne atom of phase quadratic polynomial regression criterion is used based on a variety of satellite precise clock correction data
Clock health status monitoring method, using a variety of satellite clock correction data, the problem of being detected to satellite clock, is had between each other
Effect is demonstrate,proved, and is solved and is caused asking for all kinds of abnormal phenomenon fault location hardly possiblies of satellite clock, false alarm, difficult early warning and poor in timeliness
Topic, realizes the long-term real-time monitoring of satellite clock health status.The long-time precise clock correction number for using multi satellites joint orbit determination to resolve
According to using clock correction first difference acquisition frequency departure, clock correction second order difference obtains frequency drift, using hadamard variance with daily
Clock correction data obtain ten thousand seconds stabilitys, and the data preprocessing method that rough error is detected using phase and frequency joint median method is realized
Phase hit, the monitoring of frequency hopping, using clock correction quadratic polynomial model to pretreated satellite clock correction data carry out by
Its fitting, obtains the phase of satellite clock, the long issue of frequency, frequency drift, frequency stability, phase residual error and residual error standard deviation
It can obtain satellite clock phase hit by the Real Time Monitoring to these long-time ordered series of numbers according to sequence, frequency hopping, defend
Star clock performance quality situation of change, in conjunction with the above-mentioned each index of satellite clock, the health status of overall merit satellite clock gives satellite
Clock abnormal conditions Realtime Alerts, the function of satellite clock performance change in long term early warning.
Claims (4)
1. a kind of GNSS satellite clock health status monitoring method, which is characterized in that specifically include following steps：
Step 1, the precise clock correction data for obtaining GNSS satellite clock carry out first difference processing to precise clock correction data, are defended
The frequency data of star clock；
Step 2, Detection of Gross Errors is carried out to clock correction and frequency data respectively using median method, is judged by clock correction Detection of Gross Errors
Whether it is phase hit, by frequency data Detection of Gross Errors to determine whether being frequency hopping；
Step 3, first difference processing is carried out to frequency data, obtains frequency drift rate data,；
Step 4, the fitting of single day quadratic polynomial is taken day by day to prolonged precise clock correction data, by after fitting clock correction value with
Original precise clock correction value makes the difference, and can obtain prolonged phase residual error, and single day std statistics is carried out to prolonged phase residual error
Obtain prolonged residual error standard deviation；
Step 5, the frequency stability that daily satellite clock is counted using overlapping Hadamard Variance carries out the indices of satellite clock
Overall merit, obtains the Secular Variation Tendency of satellite clock, so provide the variation of satellite clock performance warning information and frequency,
The warning information of phase hit.
2. GNSS satellite clock health status monitoring method according to claim 1, it is characterised in that：The step 2 is specific
Steps are as follows：
Step 2.1, the satellite clock correction phase data of Dan Tian is read, and is converted to frequency data；
Step 2.2, rough error is detected using n times of median method, the specific formula of median method is as follows：
MAD=Median | yi-m|/0.6745}
In formula, m is the mediant of time series, i.e. m=Median { yi}；Work as observed quantity | yi- m | when ＞ n*MAD, when being considered as
Rough error point；
Step 2.3, if satellite clock correction, frequency rough error are very big, and slowly reduce with the increase of n, then it is assumed that there is phase modulation,
Frequency modulation or phase hit, frequency hopping will be alerted with short message, phone, mail；
Step 2.4, if satellite clock correction, frequency rough error are very big, but substantially reduce with the increase of n, then it is assumed that clock correction, frequency number
According to there is larger fluctuation, the state of satellite clock is judged with this.
3. GNSS satellite clock health status monitoring method according to claim 1, it is characterised in that：In step 4, secondary
The step of fitting of a polynomial, is specific as follows：
Step 4.1, the clock correction data of Dan Tian are fitted using quadratic polynomial, the specific formula of quadratic polynomial is：
Δti=a0+a1(t-t0)+a2(t-t0)+a2(t-t0)2
In formula, a0、a1、a2Respectively phase, frequency and frequency drift；t0For the reference epoch of star clock parameter, Δ tiIt is seen for clock correction phase
Measured value；
Step 4.2, make difference with fitting clock correction value and original clock correction value and obtain phase residual error；
Step 4.3, extraction quadratic polynomial constant term a0For phase, extraction quadratic polynomial first order a1For frequency, extract secondary
Multinomial quadratic term a2For drift rate；
Step 4.4, standard deviation is calculated to the phase residual error value of Dan Tian, spectrum analysis is carried out to phase residual error value, obtains periodic term,
Fitting of a polynomial forecast was carried out to more days residual error standard deviations；
Step 4.5, according to the trend and early warning for having given threshold decision satellite clock performance.
4. GNSS satellite clock health status monitoring method according to claim 1, it is characterised in that：In steps of 5, it utilizes
Overlapping Hadamard Variance counts the frequency stability of daily satellite clock, specific as follows：
Step 5.1, the frequency data of excluding gross error are obtained；
Step 5.2, frequency data are converted into phase data；
Step 5.3, the frequency stability of each satellite is calculated using the overlapping Hadamard Variance with higher confidence space, is overlapped
The specific formula of Hadamard Variance is：
In formula, τ=m τ0For smoothingtime；τ0For the sampling interval of adjacent clock correction data；xiFor clock correction data；N is clock correction data
Number；M is smoothing factor, generally takes 1≤m≤[(N-1)/3]；
Step 5.4, single day phase data is calculated using overlapping Hadamard Variance and obtains ten thousand seconds stabilitys.
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