CN108919316A - A kind of single station multisystem hardware delay estimation method symmetrically assumed based on partial sphere - Google Patents
A kind of single station multisystem hardware delay estimation method symmetrically assumed based on partial sphere Download PDFInfo
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- CN108919316A CN108919316A CN201810985356.3A CN201810985356A CN108919316A CN 108919316 A CN108919316 A CN 108919316A CN 201810985356 A CN201810985356 A CN 201810985356A CN 108919316 A CN108919316 A CN 108919316A
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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
Abstract
The invention discloses a kind of single station multisystem hardware delay estimation methods symmetrically assumed based on partial sphere of field of space technology.Its technical solution is, using the GNSS multi-system receiver singly stood, to receive the observation signal including the satellite constellations such as Beidou, GPS, GLONASS, the oblique TEC in ionosphere in every observation path is obtained by the method for carrier phase smoothed pseudorange；Meanwhile the geological information in each path is calculated, geographic latitude, geographic logitude and the elevation angle including breakthrough point；On each epoch, all combinations of satellites for meeting the spherically symmetric geometrical condition in part are filtered out, observational equation is constructed；Using least square method, the combination hardware for solving receiver and each satellite postpones；Postponed according to combination hardware, solves the vertical TEC of satellite with oblique TEC and breakthrough point position on receiver path.The beneficial effects of the invention are as follows, symmetrically assumed based on partial sphere and multisystem observation technology, the combination hardware that satellite and receiver can efficiently and accurately be calculated postpones, to the further high-precision ionized layer TEC for obtaining real time implementation, improving ionosphere Space environment monitor and short forecasting has important value.
Description
Technical field
The invention belongs to GNSS hardware delay calculation method design fields, more particularly to a kind of partial sphere that is based on symmetrically to assume
Single station multisystem hardware delay estimation method.
Background technique
Ionosphere total electron content (Total Electron Content, TEC) is not only description ionosphere form and knot
The Important Parameters of structure, and it is usually applied to the ionospheric correction parameters of precision positioning and navigation Service.It is main now to use
GNSS receiver measures TEC, hardware delay of its maximum error source from GNSS receiver and satellite, therefore, how quasi-
Really calculating these hardware delay is the basis for carrying out PROGRESS OF IONOSPHERIC RESEARCH IN using GNSS.
Existing document shows that the hardware delay of satellite and receiver is all more stable, generally regards it within one day
For constant.Commonly estimation method includes：(1) factory calibration：Using the GNSS receiver demarcated, GNSS is connect before factory
Receipts machine hardware delay is demarcated；(2) calibration of TEC model is relied on：The vertical TEC announced in TEC model is mapped as GNSS
Oblique TEC in observation path, and temporally carry out interpolation with place and solve receiver according to the difference between the two and defended with GNSS
The combination hardware of star postpones, and particularly, each satellite hardware delayed data of other mechanisms offer is also relied on sometimes, from observation
To oblique TEC in directly deduct the hardware delay part of satellite, then observation TEC and model TEC is made poor, obtains receiver
Hardware delay；(3) calibration of GNSS platform net observation is relied on：Using intensive GNSS ground observation platform net, defended what platform net week was enclosed
Plane where star penetrates point height is divided into two-dimensional grid, it is assumed that vertical TEC in the grid phase in the space-time unique of restriction
Deng solving the hardware delay of the vertical TEC and GNSS receiver and satellite in each grid by observational equation.Three of the above side
Method all has some limitations, and first method is influenced by GNSS satellite and receiver aging and local environment, it
Hardware delay will no longer be the numerical value to dispatch from the factory when demarcating；Second method depends on the precision of ionized layer TEC model, in ionosphere
Model describes not accurate enough place, and the combination hardware delay of calculating is also inaccurate；The third method is suitable for the essence of local TEC
Really solve, but it depends on the observation grid of more station composition, calculation amount is larger, and inflexible, easy.
For the limitation of three of the above method, we have proposed a kind of single station multisystems symmetrically assumed based on partial sphere
The characteristics of hardware delay estimation method, this method is according to ground GNSS TEC, has reasonably assumed that it in being with the single station
It is in Local Symmetric on the spherical surface of the heart, takes full advantage of the observational data of the constellations such as BDS, GPS and GLONASS, meet this for all
The observation data of a assumed condition establish equation, solve the station using least square method and the combination hardware of each satellite postpones.
This method only needs the observational data of a station, is not need to rely on the observation data of TEC model or other stations, meter
Calculation amount is small, has the characteristics that independent, quick and flexible, postpones the vertical TEC in the available station overhead using combination hardware, is
The research of ionosphere form and ionospheric corrections provide reliable and stable data supporting.
Summary of the invention
The limitation in GNSS hardware delay is being solved for above-mentioned existing conventional method, the invention proposes a kind of bases
In single station multisystem hardware delay estimation method that partial sphere is symmetrically assumed.
A kind of single station multisystem hardware delay estimation method symmetrically assumed based on partial sphere, which is characterized in that specific packet
Include following steps：
Step 1：Using the GNSS multi-system receiver singly stood, receiving includes that the satellite constellations such as Beidou, GPS, GLONASS exist
Interior observation signal obtains the oblique TEC in ionosphere in every observation path by the method for carrier phase smoothed pseudorange；
Step 2：The geological information in each path is calculated, geographic latitude, geographic logitude including breakthrough point and faces upward
Angle；
Step 3：On each epoch, all combinations of satellites for meeting the spherically symmetric geometrical condition in part, structure are filtered out
Build observational equation；
Step 4：Using least square method, the combination hardware for solving receiver and each satellite postpones；And according to this group
Hardware delay is closed, obtains the oblique TEC on satellite and receiver path, and hanging down for breakthrough point position is converted into according to mapping function
Straight TEC.
In step 1, the calculation formula of the oblique TEC in ionosphere is：
Wherein, subscript i indicates GNSS satellite number, and subscript t indicates the moment, and subscript 1 and 2 indicates two carrier waves of GNSS, under
Marking obs indicates observation,For electricity of i-th satellite in the GNSS receiver observation path of t moment to ground
Absciss layer oblique TEC observation (unit TECU, 1TECU=1.0 × 1016A electronics/m2), c is the light velocity, f1With f2It respectively indicates
Two carrier frequencies of GNSS satellite,WithNo. 1 of i-th satellite and No. 2 carrier frequencies are respectively indicated in t moment
Phase observations,WithCorresponding pseudorange sight value is then respectively indicated, N is i-th satellite in a continuous observation segmental arc
Observation sample number.
Here, oblique TEC is containing hardware delay, its relationship between " true " TEC can be expressed as：
Wherein, subscript real indicates " true " value,Mean that i-th satellite in t moment to ground
The oblique TEC true value in ionosphere in GNSS receiver observation path,It is exactly receiver hardware delay (BR) prolong with satellite hardware
(B lateiThe sum of), i.e.,Their unit is also TECU.
In step 2, the geographic latitude of the breakthrough point position in station overhead, geographic logitude and the calculation formula at the elevation angle are as follows：
Wherein,WithIt is to penetrate the geographic latitude in point height and geographical warp in i-th satellite of t moment respectively
Degree,It is the elevation angle in breakthrough point position relative to GNSS satellite,It is then the elevation angle on ground relative to GNSS satellite, ζ is
Azimuth of the GNSS satellite relative to the station, REIt is the mean radius of the earth, z is the height where ionosphere pierce point,It is
Earth angle,θ0And λ0It is the geographic latitude and longitude of ground station respectively.
According to the elevation angle at breakthrough point, vertical TEC can be easily conversed, formula is as follows：
Wherein,I-th satellite is indicated in the mapping function of t moment, it is the function about the breakthrough point elevation angle,
In step 3, partial sphere symmetric condition by between two satellites the elevation angle and azimuth determine jointly, when facing upward for they
The difference at angle is no more than 10 ° and when the difference at azimuth is not more than 15 °, it is believed that the vertical TEC between them is equal, this vertical TEC
It is " true " TEC removed after hardware delay.For any two satellites i and j that meet partial sphere symmetric condition, it
Between observational equation it is as follows：
Wherein, i and j respectively indicate satellite number,WithRespectively indicate i-th and jth satellite t moment mapping letter
Number.
For the fixed Combination constituted clearly for satellite i and j, their observational equations within one day be all aboutWithThe equation of the two unknown numbers, there are a large amount of redundant datas.In order to reduce computing redundancy, make even to all moment
, it is as follows to obtain a reduced equation：
Wherein, T indicates the observation sample number of this combinations of satellites,WithRespectively indicate i-th and jth
Respective mapping function average value in combinations of satellites.
In step 4, it is based on step 3, the combination that satellite number as i and j is constituted is denoted as the combination numbered as k, it can be with
By the reduced equation simultaneous of each combinations of satellites at following sparse matrix form：
Wherein, M indicates the number of combination hardware delay to be solved, and K indicates the number of combinations of satellites, bmIndicate the m
The delay of the combination hardware of satellite and receiver, ykIndicate that number is i and the combination observation amount of the satellite of j in combination k： By element fkiThe K of composition × Metzler matrix F is a sparse square
Battle array, its every a line have and only there are two nonzero elements, and row subscript k indicates the serial number of combinations of satellites, and column subscript i indicates that number is
The satellite of i, fkiIndicate mapping function average value of the satellite i in combination k.
In this observing matrix FB=Y, a directed quantity B is unknown quantity, can use least square method and solve.
The invention has the advantages that symmetrical it is assumed that efficiently utilizing north based on multisystem observation condition and partial sphere
The resource of the GNSS constellation such as bucket, GPS and GLONASS, rely solely on a station can quickly and correctly calculate the station with
The combination hardware of GNSS satellite postpones, the ability with the vertical TEC in real-time resolving ionosphere, in following ionosphere space environment
There is significant application value in monitoring.
Detailed description of the invention
Fig. 1 is that the oblique TEC observation in ionosphere for No. 1 satellite of Beidou that the method provided by the present invention calculates changes with time
Curve graph.
Fig. 2 is the distribution map for the ionosphere pierce point geographic latitude and longitude that the method provided by the present invention calculates.
Fig. 3 is that the elevation angle for two satellites that the method provided by the present invention calculates and azimuth change over time figure.
Fig. 4 is the combination hardware delay of single station receiver within one day that the method provided by the present invention calculates and GNSS satellite
Histogram.
Fig. 5 is the vertical TEC versus time curve in ionosphere for No. 1 satellite of Beidou that the method provided by the present invention calculates
Figure.
Fig. 6 is the vertical TEC versus time curve figure in single station ionosphere that the method provided by the present invention calculates.
Specific embodiment
With reference to the accompanying drawing, it elaborates to preferred embodiment.It is emphasized that following the description is only example
Property, the range and its application being not intended to be limiting of the invention.
By some support three system GNSS observation station data for, it can receive simultaneously Beidou, GPS and
The data such as epoch, pseudorange and the phase of GLONASS satellite constellation execute following steps：
Step 1：Using the differential phase observation of every GNSS satellite come smooth difference pseudorange, the oblique TEC in ionosphere is obtained：
Here, by taking No. 1 satellite (i=1) of Beidou as an example, its two carrier frequencies are f respectively1=1575.42MHz, f2
=1227.6MHz, light velocity c=2.99792458 × 108M/s is respectively in two phase observations at t=1 moment It is a geostationary satellite, whole day
It can observe, it shares N=2733 observation within one day.
Wherein, i=1,2 ..., 2733, N=2733,WithTwo frequencies of No. 1 satellite are respectively indicated in t
The pseudorange observation at quarter,WithRespectively indicate the phase observations of two frequencies in t moment of No. 1 satellite.According to phase
The method that difference carrys out smoothing pseudo range difference obtains No. 1 satellite in the oblique TEC observation in the ionosphere at the 1st moment, its numerical value
About -34.35TECU.
Fig. 1 shows a kind of single station multisystem hardware delay estimation side symmetrically assumed based on partial sphere provided by the invention
The oblique TEC observation versus time curve figure in the ionosphere for No. 1 satellite of Beidou that method obtains.
Step 2：Here (geographical based on station coordinate still by taking No. 1 satellite of Beidou is in the observation information at the 1st moment as an example
Latitude θ0=18.35 °, geographic logitude λ0=109.62 °), terrestrial elevation angle and azimuth are respectivelyWithHeight of the breakthrough point apart from ground is 450km, and each geometric parameter calculated is as follows：
(1) earth angle
(2) breakthrough point geographic latitude
(3) breakthrough point geographic logitude
(4) the breakthrough point elevation angle
Fig. 2 shows the distribution map for the ionosphere pierce point geographic latitude and longitude that the method provided by the present invention calculates.
In step 3, according to the spherically symmetric Rule of judgment in part, by qualified satellite combination of two, still with Beidou 1
For number satellite (i=1), it and No. 25 stars (j=36) of GPS are in universal time 06:43:50 moment constituted first combination (k=
1) meet partial sphere symmetric condition, parameters are：
y1=-19.26.
Observational equation at this moment is as follows：
C01—G25：
In whole day, this two satellites one share 86 moment and meet partial sphere symmetric condition, by them at each moment
Observational equation be averaged, obtain a following reduced equation：
C01—G25：
Fig. 3 is that the elevation angle for two satellites that the method provided by the present invention calculates and azimuth change over time figure.In figure
" C01 " and " G25 " respectively indicates No. 1 satellite of Beidou and No. 25 satellites of GPS, they be using three word bit " SNN " forms come
The satellite number of expression, initial " S " indicate satellite constellation, and " C ", " G " and " R " respectively indicates Beidou, GPS and GLONASS satellite
Constellation, and the 2-3 character then indicates serial number of the satellite in the constellation.The part that two perpendicular dotted lines fold indicates satisfaction
The observed quantity of partial sphere symmetric condition.
Step 4：For No. 1 satellite of Beidou in step 3, one, which shares 8 satellites, can constitute observational equation with it,
They are successively G02, G14, G17, G19, G25, R06, R11 and R21, and respective reduced equation difference is as follows：
C01—G02：
C01—G14：
C01—G17：
C01—G19：
C01—G25：
C01—R06：
C01—R11：
C01—R21：
Whole day has observed 66 satellites altogether, wherein have 13 big-dipper satellites, 30 GPS satellites and 23 GLONASS
Satellite.All available combinations of satellites have 256 altogether.All observational equations of simultaneous, available one unknown containing 66
Several equation groups.This is an over-determined systems, and least square method direct solution can be used.Solving result is ground receiver
With the optimal estimation of the combination hardware delay of each GNSS satellite.
The combination hardware of single station receiver within one day of providing method calculating and GNSS satellite postpones according to the present invention,
As shown in the histogram in Fig. 4.
Oblique TEC on from ground to GNSS satellite path can directly deduct this group from the oblique TEC observed
It closes hardware delay and gets.Still by taking No. 1 satellite of Beidou as an example, its oblique TEC can be expressed as following formula：
Correspondingly, according to the conversion of mapping function, the vertical TEC for penetrating point height can be obtained：
As shown in figure 5, the ionosphere vertical TEC for No. 1 satellite of Beidou that providing method calculates according to the present invention is at any time
Change curve.
Fig. 6 is the vertical TEC versus time curve figure in single station ionosphere that the method provided by the present invention calculates.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claim
Subject to enclosing.
Claims (5)
1. a kind of single station multisystem hardware delay estimation method symmetrically assumed based on partial sphere, which is characterized in that specifically include
Following steps：
Step 1：Using the GNSS multi-system receiver singly stood, receive including the satellite constellations such as Beidou, GPS, GLONASS
Observation signal obtains the oblique TEC in ionosphere in every observation path by the method for carrier phase smoothed pseudorange；
Step 2：The geological information in each path is calculated, geographic latitude, geographic logitude and the elevation angle including breakthrough point；
Step 3：On each epoch, all combinations of satellites for meeting the spherically symmetric geometrical condition in part are filtered out, building is seen
Survey equation；
Step 4：Using least square method, the combination hardware for solving receiver and each satellite postpones；And it is hard according to this combination
Part delay, obtains the oblique TEC on satellite and receiver path, and be converted into the vertical of breakthrough point position according to mapping function
TEC。
2. a kind of single station multisystem hardware delay estimation method symmetrically assumed based on partial sphere according to claim 1,
It is characterized in that, in the step 1, the calculation formula of the oblique TEC in ionosphere is：
Wherein, subscript i indicates GNSS satellite number, and subscript t indicates the moment, and subscript 1 and 2 indicates two carrier waves of GNSS, subscript obs
Indicate observation,For ionosphere of i-th satellite in the GNSS receiver observation path of t moment to ground
Oblique TEC observation (unit TECU, 1TECU=1.0 × 1016A electronics/m2), c is the light velocity, f1With f2Respectively indicate GNSS
Two carrier frequencies of satellite,WithNo. 1 of i-th satellite and No. 2 carrier frequencies are respectively indicated in t moment
Phase observations,WithCorresponding pseudorange sight value is then respectively indicated, N is i-th satellite in a continuous observation segmental arc
Observation sample number.
3. a kind of single station multisystem hardware delay estimation method symmetrically assumed based on partial sphere according to claim 1,
It is characterized in that, geographic latitude, geographic logitude and the calculation formula at the elevation angle of the breakthrough point position in station overhead are such as in step 2
Under：
Wherein,WithIt is to penetrate geographic latitude and geographic logitude in point height in i-th satellite of t moment respectively,It is the elevation angle in breakthrough point position relative to GNSS satellite,It is then the elevation angle on ground relative to GNSS satellite, ζ is
Azimuth of the GNSS satellite relative to the station, REIt is the mean radius of the earth, z is the height where ionosphere pierce point,It is
Earth angle,θ0And λ0It is the geographic latitude and longitude of ground station respectively.
4. a kind of single station multisystem hardware delay estimation method symmetrically assumed based on partial sphere according to claim 1,
It is characterized in that, in step 3, for any two satellite i and j for meeting partial sphere symmetric condition that are observed in t moment and
Speech, the observational equation between them are as follows：
Wherein, i and j respectively indicates satellite number, ft iAnd ft jRespectively indicate i-th and jth satellite t moment mapping function,
It is exactly the combination hardware delay of receiver and satellite, it is receiver hardware delay (BR) and satellite hardware delay (BiThe sum of), i.e.,
In order to reduce computing redundancy, the reduced equation after being averaged to all moment is as follows：
Wherein, T indicates the observation sample number of this combinations of satellites,WithRespectively indicate i-th and jth defend
Respective mapping function average value in star combination.
5. a kind of single station multisystem hardware delay estimation method symmetrically assumed based on partial sphere according to claim 1,
It is characterized in that, the combination that the satellite numbered as i and j is constituted is denoted as the combination numbered as k, can be defended each in step 4
The reduced equation simultaneous of star combination is at following sparse matrix form：
Wherein, M indicates the number of combination hardware delay to be solved, and K indicates the number of combinations of satellites, bmIndicate the m satellite with
The combination hardware of receiver postpones, ykIndicate that number is i and the combination observation amount of the satellite of j in combination k：By element fkiThe K of composition × Metzler matrix F is a sparse square
Battle array, its every a line have and only there are two nonzero elements, and row subscript k indicates the serial number of combinations of satellites, and column subscript i indicates that number is
The satellite of i, fkiIndicate mapping function average value of the satellite i in combination k.
In this observing matrix FB=Y, a directed quantity B is unknown quantity, can use least square method and solve.
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| CN110764121A (en) * | 2019-10-29 | 2020-02-07 | 中海北斗(深圳)导航技术有限公司 | GNSS real-time global ionized layer TEC modeling method |
| CN110907959A (en) * | 2019-10-31 | 2020-03-24 | 中国电子科技集团公司第七研究所 | GNSS receiver hardware delay rapid resolving method based on GIM map |
| CN112505068A (en) * | 2020-11-03 | 2021-03-16 | 桂林理工大学 | Surface soil humidity multi-satellite combined inversion method based on GNSS-IR |
| CN112558123A (en) * | 2020-11-27 | 2021-03-26 | 北京航天长城卫星导航科技有限公司 | Method and device for resolving initial phase deviation and hardware delay parameter of satellite terminal |
| CN113467221A (en) * | 2021-07-13 | 2021-10-01 | 湖南国科微电子股份有限公司 | Satellite navigation time service method, system and related components |
| CN116203591A (en) * | 2022-10-31 | 2023-06-02 | 中国电波传播研究所（中国电子科技集团公司第二十二研究所） | Method for jointly estimating high-precision ionosphere VTEC of China area based on multiple stations |
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| CN110764121A (en) * | 2019-10-29 | 2020-02-07 | 中海北斗(深圳)导航技术有限公司 | GNSS real-time global ionized layer TEC modeling method |
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| CN112505068A (en) * | 2020-11-03 | 2021-03-16 | 桂林理工大学 | Surface soil humidity multi-satellite combined inversion method based on GNSS-IR |
| CN112505068B (en) * | 2020-11-03 | 2023-08-11 | 桂林理工大学 | GNSS-IR-based earth surface soil humidity multi-star combination inversion method |
| CN112558123A (en) * | 2020-11-27 | 2021-03-26 | 北京航天长城卫星导航科技有限公司 | Method and device for resolving initial phase deviation and hardware delay parameter of satellite terminal |
| CN112558123B (en) * | 2020-11-27 | 2023-03-21 | 北京航天长城卫星导航科技有限公司 | Method and device for resolving initial phase deviation and hardware delay parameter of satellite terminal |
| CN113467221A (en) * | 2021-07-13 | 2021-10-01 | 湖南国科微电子股份有限公司 | Satellite navigation time service method, system and related components |
| CN113467221B (en) * | 2021-07-13 | 2022-08-19 | 湖南国科微电子股份有限公司 | Satellite navigation time service method, system and related components |
| CN116203591A (en) * | 2022-10-31 | 2023-06-02 | 中国电波传播研究所（中国电子科技集团公司第二十二研究所） | Method for jointly estimating high-precision ionosphere VTEC of China area based on multiple stations |
| CN116203591B (en) * | 2022-10-31 | 2024-02-27 | 中国电波传播研究所（中国电子科技集团公司第二十二研究所） | Method for jointly estimating high-precision ionosphere VTEC of China area based on multiple stations |
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