CN108919634A - A kind of three non-non-combined observation Time Transmission system and method for difference of frequency of Beidou - Google Patents
A kind of three non-non-combined observation Time Transmission system and method for difference of frequency of Beidou Download PDFInfo
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- CN108919634A CN108919634A CN201810914774.3A CN201810914774A CN108919634A CN 108919634 A CN108919634 A CN 108919634A CN 201810914774 A CN201810914774 A CN 201810914774A CN 108919634 A CN108919634 A CN 108919634A
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- G—PHYSICS
- G04—HOROLOGY
- G04R—RADIO-CONTROLLED TIME-PIECES
- G04R20/00—Setting the time according to the time information carried or implied by the radio signal
- G04R20/02—Setting the time according to the time information carried or implied by the radio signal the radio signal being sent by a satellite, e.g. GPS
Abstract
The invention discloses a kind of three non-non-combined observation Time Transmission system and method for difference of frequency of Beidou, this method includes：Obtain the parameters such as carrier phase observable, Pseudo-range Observations, satellite ephemeris, earth rotation, the antenna phase center of Chinese Beidou satellite navigation system at two passing time stations；Carry out data inspection, elimination of rough difference and Detection of Cycle-slip；Carry out ephemeris, tide, the theory of relativity, earth rotation, atmosphere, antenna phase deviation equal error model correction；Construct the ionosphere virtual observation model of additional ionosphere prior information constraint, space region constraint and time region constraint；The three non-non-combined Static Precise Point Positioning model of difference of frequency of building, One-Point Location time service resolving is carried out to the data after correction, it obtains the comprehensive clock deviation of two passing time station receivers and is compared, it is poor to obtain Time Transmission, it is compared with the standard time at one of passing time station, obtains the chronometer time at another passing time station.The invention can reduce observation noise, improve Time Transmission precision and reliability.
Description
Technical field
The present invention relates to big-dipper satellite passing time technical field, especially a kind of three non-non-combined observation of difference of frequency of Beidou
Time Transmission system and method.
Background technique
Time Transmission is that the retention time is synchronous between time laboratory and establishes and maintain the important set of standard time scale
At part.Time Transmission precision is an important indicator of measure time net synchronization capability, is affected synchronous between each time reference
Precision.Time delivering method has total view method Time Transmission and full view method Time Transmission, obtains in many time laboratories extensively
Using still, they are all based on Pseudo-range Observations, it is also necessary to be based on satellite common vision condition, sphere of action is limited, and traditional is complete
No ionospheric combination is usually used depending on method, is exaggerated observation noise, and whole positioning time service precision and reliability are lower.
Summary of the invention
The object of the present invention is to provide a kind of three non-non-combined observation Time Transmission system and method for difference of frequency of Beidou, energy
Observation noise is reduced, Time Transmission precision and reliability are improved.
To achieve the above object, the present invention provides following schemes：
A kind of three non-non-combined observation time delivering method of difference of frequency of Beidou, including：
Obtain carrier phase observable, Pseudo-range Observations, the satellite of the Chinese Beidou satellite navigation system at two passing time stations
Ephemeris, earth rotation, antenna phase center with etc. parameters；
Data inspection, elimination of rough difference and Detection of Cycle-slip are carried out to the carrier phase observable, Pseudo-range Observations, pre-processed
Data afterwards；
Ephemeris, tide, the theory of relativity, earth rotation, atmosphere, antenna phase deviation etc. are carried out to the pretreated data
Error model correction；
Construct the ionosphere virtual observation mould of additional ionosphere prior information constraint, space region constraint and time region constraint
Type；
The three non-non-combined Static Precise Point Positioning model of difference of frequency of building, and One-Point Location time service solution is carried out to the data after correction
It calculates, obtains the comprehensive clock deviation of the respective receiver in two passing time stations；
The comprehensive clock deviation of the respective receiver in two passing time stations is compared, it is poor to obtain Time Transmission；
It is compared according to the standard time at the Time Transmission difference and one of passing time station, when obtaining another transmitting
Between the chronometer time stood.
Optionally, described that ephemeris, tide, the theory of relativity, earth rotation, atmosphere, day are carried out to the pretreated data
Phase of line deviation equal error model correction, specifically includes：
It is modified just based on Precise Orbit product to orbit error, precise clock correction is repaired based on precise clock correction product
Just；
By additional ionosphere prior information, time-domain and the related constraint of spatial domain and ionosphere delay error as not
Know that parameter carries out real-time estimation；
Earth tide, tide, Ghandler motion, relativistic effect, antenna phase center variation variation, phase are turned around using corresponding
Model is corrected.
Optionally, the virtual observation mould for constructing the constraint of ionosphere prior information, space region constraint and time region constraint
Type specifically includes：
Using such as drag：VTEC=VTECGIM+εGIM；
Construct the constraint of ionosphere prior information；
Wherein, VTECGIMIndicate the total electron content that grid ionospheric model extracts, εGIMIndicate prior model error,
σpriorValue is 0.3-0.6 meters, and B indicates that the latitude of ionosphere point of puncture, t indicate the local time as unit of hour；
Using such as drag：
VTEC=VTECspace+εspace；
Establish ionosphere space region constraint；
Wherein, m and n is the end of surface model, and usual value is 2,With λ be point of puncture latitude and longitude,With
λ0For the latitude and longitude of survey station, EijThe coefficient of representative model.
Using such as drag：
VTEC=VTEClast+ΔVTEC+εtemp；
Establish ionosphere time region constraint；
Wherein, the epoch that Δ VTEC is ionosphere VTEC changes,For the variance of Δ VTEC, unit m2, value model
It encloses for 0.009-0.025m2。
Optionally, the three non-non-combined Static Precise Point Positioning model of difference of frequency of building, and the data after correction are carried out single
Point location time service resolves, and obtains the comprehensive clock deviation of the respective receiver in two passing time stations, specifically includes：
The three non-non-combined Static Precise Point Positioning model of difference of frequency of building is as follows：
Wherein, P and φ is respectively pseudorange and carrier phase observation data, and f is frequency；Coefficient of frequencyρ is geometric distance of the satellite to survey station, c
For the light velocity, dt12For P1And P2The receiver clock-offsets of no ionospheric combination observation, dtsFor satellite clock correction, dtropFor tropospheric delay；
M is represented and earth tide, tide, earth rotation, relativistic effect, antenna phase center variation, turns around and multipath composition error；
N is fuzziness item, and the hardware delay deviation comprising satellite and receiver end, ε is observation noise, and IFB is receiver inter-frequency deviation；
DCB is pseudorange code inter-frequency deviation, and the code deviation of satellite end is provided by international GNSS service centre, and is possessed between different frequencyRelationship, dionFor the ionosphere delay in L1 frequency, dion=f (Z) *
VTEC, footmark behalf satellite,Z is satellite zenith angle, and VTEC is the total electron content of zenith direction,
Unit is TECU, and f (Z) is the mapping function for converting the VTEC of zenith direction to oblique path direction；
It is as follows to establish stochastic model：
One-Point Location time service resolving is carried out in conjunction with the non-combined Static Precise Point Positioning model of the non-difference of three frequencies of foundation, obtains two stations
The comprehensive clock deviation of reception；
Wherein, I is unit matrix；σ0=a/sin (E) is error in unit power；A is constant, and phase value is 0.002-
0.003m, pseudorange value are 0.2-2.0m；E is elevation of satellite, and unit is radian.
A kind of three non-non-combined observation Time Transmission system of difference of frequency of Beidou, including：
Observation obtains module, the phase observations of the Chinese Beidou satellite navigation system for obtaining two passing time stations
The parameters such as value, Pseudo-range Observations, satellite ephemeris, earth rotation, antenna phase center；
Preprocessing module, for carrying out data inspection, elimination of rough difference and cycle slip to the carrier phase observable, Pseudo-range Observations
Detection, obtains pretreated data；
Correct module, for the pretreated data carry out ephemeris, tide, the theory of relativity, earth rotation, atmosphere,
Antenna phase deviation equal error model correction；
Virtual observation model construction module, for constructing additional ionosphere prior information constraint, space region constraint and time
The ionosphere virtual observation model of region constraint；
Module is resolved, for constructing the three non-non-combined Static Precise Point Positioning models of difference of frequency, and the data after correction are carried out
One-Point Location time service resolves, and obtains the comprehensive clock deviation of the respective receiver in two passing time stations；
Time Transmission difference computing module, for the comprehensive clock deviation of the respective receiver in two passing time stations to be compared,
It is poor to obtain Time Transmission；
Passing time module is compared according to the standard time at the Time Transmission difference and one of passing time station, is obtained
To the chronometer time at another passing time station.
Optionally, the correction module, specifically includes：
Orbit parameter amending unit is modified orbit error based on Precise Orbit product；
Satellite ephemeris error amending unit is modified clock deviation error based on precise clock correction product；
Ionosphere delay error amending unit, it is related for ionosphere prior information, time-domain and spatial domain will to be added
Constraint and ionosphere delay error are as unknown parameter progress real-time estimation；
Satellite navigation relevant parameter amending unit, for in earth tide, tide, Ghandler motion, relativistic effect, antenna phase
Heart change of error, phase are turned around to be corrected using corresponding model.
Optionally, the virtual observation model construction module, including：
Based on grid ionospheric model, prior information constraint is carried out, prior information constraint equation is obtained；According to ionosphere sky
Between characteristic, carry out single station modeling, solving model coefficient forms spatial domain constraint equation；It is right according to ionosphere time behavior
Adjacent epoch is constrained, and is formed time-domain constraint equation, is specifically included：
Ionosphere prior information restricted model construction unit, for using such as drag：VTEC=VTECGIM+εGIM；
Construct the constraint of ionosphere prior information；
Wherein, VTECGIMIndicate the total electron content that grid ionospheric model extracts, εGIMIndicate prior model error,
σpriorValue is 0.3-0.6 meters, and B indicates that the latitude of ionosphere point of puncture, t indicate the local time as unit of hour；
Ionosphere spatial domain restricted model construction unit, for using such as drag：
VTEC=VTECspace+εspace；
Establish ionosphere space region constraint；
Wherein, m and n is the end of surface model, and usual value is 2,With λ be point of puncture latitude and longitude,With
λ0For the latitude and longitude of survey station, EijThe coefficient of representative model.
Ionosphere time-domain restricted model construction unit, for using such as drag：
VTEC=VTEClast+ΔVTEC+εtemp；
Establish ionosphere time region constraint；
Wherein, the epoch that Δ VTEC is ionosphere VTEC changes,For the variance of Δ VTEC, unit m2, value model
It encloses for 0.009-0.025m2。
Optionally, the resolving module, including：
It is linearized by model correction and parameter, constructs observational equation, and determine stochastic model, carry out parameter Estimation, obtain
The comprehensive clock deviation of receiver to two stations, specifically includes：
The three non-non-combined Static Precise Point Positioning model construction units of difference of frequency, for constructing the three non-non-combined accurate one-points of difference of frequency
Location model is as follows：
Wherein, P and φ is respectively pseudorange and carrier phase observation data, and f is frequency；Coefficient of frequencyρ is geometric distance of the satellite to survey station, c
For the light velocity, dt12For P1And P2The receiver clock-offsets of no ionospheric combination observation, dtsFor satellite clock correction, dtropFor tropospheric delay；
M is represented and earth tide, tide, earth rotation, relativistic effect, antenna phase center variation, turns around and multipath composition error；
N is fuzziness item, and the hardware delay deviation comprising satellite and receiver end, ε is observation noise, and IFB is receiver inter-frequency deviation；
DCB is pseudorange code inter-frequency deviation, and the code deviation of satellite end is provided by international GNSS service centre, and is possessed between different frequencyRelationship, dionFor the ionosphere delay in L1 frequency, dion=f (Z) *
VTEC, footmark behalf satellite,Z is satellite zenith angle, and VTEC is the total electron content of zenith direction,
Unit is TECU, and f (Z) is the mapping function for converting the VTEC of zenith direction to oblique path direction；
Stochastic model establishes unit, as follows for establishing stochastic model：
One-Point Location time service resolving is carried out in conjunction with the non-combined Static Precise Point Positioning model of the non-difference of three frequencies of foundation, obtains two stations
The comprehensive clock deviation of receiver；
Wherein, I is unit matrix；σ0=a/sin (E) is error in unit power；A is constant, and phase value is 0.002-
0.003m, pseudorange value are 0.2-2.0m；E is elevation of satellite, and unit is radian.
The specific embodiment provided according to the present invention, the invention discloses following technical effects：
The present invention provides a kind of three non-non-combined observation Time Transmission system and methods of difference of frequency of Beidou, based on GPS essence
Close One-Point Location (GPS Precise Point Positioning, PPP) technology is combined the three non-non-combined sight of difference of frequency of Beidou
The time delivering method of measured value passes through additional ionosphere prior information constraint, space region constraint and time region constraint virtual observation
Equation constructs the non-combined PPP model of non-difference of three frequency signals, by the shared dipper system time, realizes the precision at two stations
Time Transmission service, effectively reduces observation noise, improves Time Transmission precision, and available ionosphere and hardware delay
Product.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain his attached drawing.
Fig. 1 is the flow diagram of 1 Beidou of the embodiment of the present invention, the three non-non-combined observation time delivering method of difference of frequency；
Fig. 2 is the structural schematic diagram of 2 Beidou of the embodiment of the present invention, the three non-non-combined observation Time Transmission system of difference of frequency；
Fig. 3 is the flow diagram of 3 Beidou of the embodiment of the present invention, the three non-non-combined observation time delivering method of difference of frequency.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, obtained by those of ordinary skill in the art without making creative efforts all he is real
Example is applied, shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of three non-non-combined observation Time Transmission system and method for difference of frequency of Beidou, energy
Observation noise is reduced, Time Transmission precision and reliability are improved.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Fig. 1 is the flow diagram of the three non-non-combined observation time delivering method of difference of frequency of Beidou of the present invention.
As shown in Figure 1, a kind of three non-non-combined observation time delivering method of difference of frequency of Beidou, including：
Step 101：Obtain carrier phase observable, the pseudorange observation of the Chinese Beidou satellite navigation system at two passing time stations
The parameters such as value, satellite ephemeris, earth rotation, antenna phase center；
Step 102：Data inspection, elimination of rough difference and Detection of Cycle-slip are carried out to the carrier phase observable, Pseudo-range Observations, obtained
To pretreated data；
Step 103：Ephemeris, tide, the theory of relativity, earth rotation, atmosphere, antenna phase are carried out to the pretreated data
Position deviation equal error model correction；
Step 104：The ionosphere for constructing additional ionosphere prior information constraint, space region constraint and time region constraint is virtual
Observation model；
Step 105：The three non-non-combined Static Precise Point Positioning model of difference of frequency of building, and it is fixed to carry out single-point to the data after correction
Position time service resolves, and obtains the comprehensive clock deviation of the respective receiver in two passing time stations；
Step 106：The comprehensive clock deviation of the respective receiver in two passing time stations is compared, it is poor to obtain Time Transmission；
Step 107：It is compared, is obtained another according to the standard time at the Time Transmission difference and one of passing time station
The chronometer time at a passing time station.
The step 103：Ephemeris, tide, the theory of relativity, earth rotation, atmosphere, day are carried out to the pretreated data
Phase of line deviation equal error model correction, specifically includes：
Orbit error is modified by Precise Orbit product, and clock deviation error is modified by precise clock correction product；
By additional ionosphere prior information, time-domain and the related constraint of spatial domain and ionosphere delay error as not
Know that parameter carries out real-time estimation；
Earth tide, tide, Ghandler motion, relativistic effect, antenna phase center variation variation, phase are turned around using corresponding
Model is corrected.
The step 104：Construct the ionosphere of additional ionosphere prior information constraint, space region constraint and time region constraint
Virtual observation model, including：
Based on grid ionospheric model, prior information constraint is carried out, prior information constraint equation is obtained；According to ionosphere sky
Between characteristic, carry out single station modeling, solving model coefficient forms spatial domain constraint equation；It is right according to ionosphere time behavior
Adjacent epoch is constrained, and is formed time-domain constraint equation, is specifically included：
Using such as drag：VTEC=VTECGIM+εGIM；
Construct the constraint of ionosphere prior information；
Wherein, VTECGIMIndicate the total electron content that grid ionospheric model extracts, εGIMIndicate prior model error,
σpriorValue is 0.3-0.6 meters, and B indicates that the latitude of ionosphere point of puncture, t indicate the local time as unit of hour；
Using such as drag：
VTEC=VTECspace+εspace；
Establish ionosphere space region constraint；
Wherein, m and n is the end of surface model, and usual value is 2,With λ be point of puncture latitude and longitude,With
λ0For the latitude and longitude of survey station, EijThe coefficient of representative model.
Using such as drag：
VTEC=VTEClast+ΔVTEC+εtemp；
Establish ionosphere time region constraint；
Wherein, the epoch that Δ VTEC is ionosphere VTEC changes,For the variance of Δ VTEC, unit m2, value model
It encloses for 0.009-0.025m2。
The step 105：The three non-non-combined Static Precise Point Positioning model of difference of frequency of building, and the data after correction are carried out single
Point location time service resolves, and obtains the comprehensive clock deviation of the respective receiver in two passing time stations, including：
It is linearized by model correction and parameter, constructs observational equation, and determine stochastic model, carry out parameter Estimation, obtain
To the synthesis clock deviation at two stations, specifically include：
The three non-non-combined Static Precise Point Positioning model of difference of frequency of building is as follows：
Wherein, P and φ is respectively pseudorange and carrier phase observation data, and f is frequency；Coefficient of frequencyρ is geometric distance of the satellite to survey station, c
For the light velocity, dt12For P1And P2The receiver clock-offsets of no ionospheric combination observation, dtsFor satellite clock correction, dtropFor tropospheric delay；
M is represented and earth tide, tide, earth rotation, relativistic effect, antenna phase center variation, turns around and multipath composition error；
N is fuzziness item, and the hardware delay deviation comprising satellite and receiver end, ε is observation noise, and IFB is receiver inter-frequency deviation；
DCB is pseudorange code inter-frequency deviation, and the code deviation of satellite end is provided by international GNSS service centre, and is possessed between different frequencyRelationship, dionFor the ionosphere delay in L1 frequency, dion=f (Z) *
VTEC, footmark behalf satellite,Z is satellite zenith angle, and VTEC is the total electron content of zenith direction, single
Position is TECU, and f (Z) is the mapping function for converting the VTEC of zenith direction to oblique path direction；
It is as follows to establish stochastic model：
One-Point Location time service resolving is carried out in conjunction with the non-combined Static Precise Point Positioning model of the non-difference of three frequencies of foundation, obtains two stations
The comprehensive clock deviation of reception；
Wherein, I is unit matrix；σ0=a/sin (E) is error in unit power；A is constant, and phase value is 0.002-
0.003m, pseudorange value are 0.2-2.0m；E is elevation of satellite, and unit is radian.
Fig. 2 is the structural schematic diagram of the three non-non-combined observation Time Transmission system of difference of frequency of Beidou of the present invention.
As shown in Fig. 2, a kind of three non-non-combined observation Time Transmission system of difference of frequency of Beidou, including：
Observation obtains module 201, the phase of the Chinese Beidou satellite navigation system for obtaining two passing time stations
The parameters such as observation, Pseudo-range Observations, satellite ephemeris, earth rotation, antenna phase center；
Preprocessing module 202, for the carrier phase observable, Pseudo-range Observations carry out data inspection, elimination of rough difference and
Detection of Cycle-slip obtains pretreated data；
Module 203 is corrected, for carrying out ephemeris, tide, the theory of relativity, earth rotation, big to the pretreated data
Gas, antenna phase deviation equal error model correction；
Virtual observation model construction module 204, for construct the constraint of additional ionosphere prior information, space region constraint and when
Between region constraint ionosphere virtual observation model；
Module 205, the three non-non-combined Static Precise Point Positioning model of difference of frequency of building are resolved, and the data after correction are carried out single
Point location time service resolves, and obtains the comprehensive clock deviation of the respective receiver in two passing time stations；
Time Transmission difference computing module 206, for comparing the comprehensive clock deviation of the respective receiver in two passing time stations
It is right, it is poor to obtain Time Transmission；
Passing time module 207 is compared according to the standard time at the Time Transmission difference and one of passing time station,
Obtain the chronometer time at another passing time station.
The correction module 203, specifically includes：
Orbit parameter amending unit carries out orbit error amendment based on Precise Orbit product；
Satellite ephemeris error amending unit carries out clock deviation error correction based on precise clock correction product；
Ionosphere delay error amending unit, it is related for ionosphere prior information, time-domain and spatial domain will to be added
Constraint and ionosphere delay error are as unknown parameter progress real-time estimation；
Satellite navigation relevant parameter amending unit, for in earth tide, tide, Ghandler motion, relativistic effect, antenna phase
Heart change of error, phase are turned around to be corrected using corresponding model.
The virtual observation model construction module 204, including：
Based on grid ionospheric model, prior information constraint is carried out, prior information constraint equation is obtained；According to ionosphere sky
Between characteristic, carry out single station modeling, solving model coefficient forms spatial domain constraint equation；It is right according to ionosphere time behavior
Adjacent epoch is constrained, and is formed time-domain constraint equation, is specifically included：
Ionosphere prior information restricted model construction unit, for using such as drag：VTEC=VTECGIM+εGIM；
Construct the constraint of ionosphere prior information；
Wherein, VTECGIMIndicate the total electron content that grid ionospheric model extracts, εGIMIndicate prior model error,
σpriorValue is 0.3-0.6 meters, and B indicates that the latitude of ionosphere point of puncture, t indicate the local time as unit of hour；
Ionosphere spatial domain restricted model construction unit, for using such as drag：
VTEC=VTECspace+εspace；
Establish ionosphere space region constraint；
Wherein, m and n is the end of surface model, and usual value is 2,With λ be point of puncture latitude and longitude,With
λ0For the latitude and longitude of survey station, EijThe coefficient of representative model.
Ionosphere time-domain restricted model construction unit, for using such as drag：
VTEC=VTEClast+ΔVTEC+εtemp；
Establish ionosphere time region constraint；
Wherein, the epoch that Δ VTEC is ionosphere VTEC changes,For the variance of Δ VTEC, unit m2, value model
It encloses for 0.009-0.025m2。
The resolving module 205, including：
It is linearized by model correction and parameter, constructs observational equation, and determine stochastic model, carry out parameter Estimation, obtain
To the synthesis clock deviation at two stations, specifically include：
It is the foundation of function model first for model foundation, ionosphere delay uses the parameter with constraint condition to estimate
Meter method, tropospheric delay error are corrected using empirical model, and nubbin uses piecewise constant or random walk mould
Type is estimated.
The three non-non-combined Static Precise Point Positioning model construction units of difference of frequency, for constructing the three non-non-combined accurate one-points of difference of frequency
Location model is as follows：
Wherein, P and φ is respectively pseudorange and carrier phase observation data, and f is frequency；Coefficient of frequencyρ is geometric distance of the satellite to survey station, c
For the light velocity, dt12For P1And P2The receiver clock-offsets of no ionospheric combination observation, dtsFor satellite clock correction, dtropFor tropospheric delay；
M is represented and earth tide, tide, earth rotation, relativistic effect, antenna phase center variation, turns around and multipath composition error；
N is fuzziness item, and the hardware delay deviation comprising satellite and receiver end, ε is observation noise, and IFB is receiver inter-frequency deviation；
DCB is pseudorange code inter-frequency deviation, and the code deviation of satellite end is provided by international GNSS service centre, and is possessed between different frequencyRelationship, dionFor the ionosphere delay in L1 frequency, dion=f (Z) *
VTEC, footmark behalf satellite,Z is satellite zenith angle, and VTEC is the total electron content of zenith direction, single
Position is TECU, and f (Z) is the mapping function for converting the VTEC of zenith direction to oblique path direction；
Stochastic model establishes unit, as follows for establishing stochastic model：
One-Point Location time service resolving is carried out in conjunction with the non-combined Static Precise Point Positioning model of the non-difference of three frequencies of foundation, obtains two stations
The comprehensive clock deviation of reception；
Wherein, I is unit matrix；σ0=a/sin (E) is error in unit power；A is constant, and phase value is 0.002-
0.003m, pseudorange value are 0.2-2.0m；E is elevation of satellite, and unit is radian；
The hardware delay deviation D CB of satellite end is corrected using the product that IGS is announced, and the DCB of receiver end is joined
Number estimation；Satellite ephemeris error is corrected using the correction of real-time broadcasting, and receiver clock-offsets first carry out time-difference parameter correction, then when
Estimated as white Gaussian noise to get local zone time of the user relative to the NTSC reference time is arrived.Multipath effect does not have temporarily
There are reliable model or method correction, can be handled as observation noise.Its stochastic model can be according to pseudorange, carrier phase observable and mould
Type precision, and elevation of satellite is cooperated to carry out comprehensive determination.
Fig. 3 is the flow diagram of 3 Beidou of the embodiment of the present invention, the three non-non-combined observation time delivering method of difference of frequency.Such as
Shown in Fig. 3, the observation data acquired on survey station are collected, what Precise Orbit, clock deviation, ionosphere product and data processing needed
Assist product (earth rotation parameter (ERP), DCB correction, day line file etc.)；
Based on grid ionospheric model, prior information constraint is carried out, prior information constraint equation is obtained；According to ionosphere sky
Between characteristic, carry out single station modeling, solving model coefficient forms spatial domain constraint equation；It is right according to ionosphere time behavior
Adjacent epoch is constrained, and time-domain constraint equation is formed.
It is linearized by model correction and parameter, constructs observational equation, and determine stochastic model, carry out parameter Estimation, obtain
The comprehensive clock deviation of receiver to each station.
The comparison that comprehensive clock deviation is carried out between each station, obtains that Time Transmission is poor, relies on the standard time of reference station, Ji Keshi
The Time Transmission function of existing subscriber station.
Using high-precision phase position observation, the precision of Time Transmission is improved.
The three non-non-combined observation Time Transmission system and method for difference of frequency of a kind of Beidou of the invention, high-precision phase are seen
Measured value carries out Time Transmission calculating, compensates for routine and regards method altogether, the limitation of low precision Pseudo-range Observations is used only in full view method,
The precision of Time Transmission will be greatly promoted；Using three frequency observations, whole Time Transmission precision and reliability can be improved, made
With three frequency observations, not only there is combination of frequency abundant, but also Time Transmission precision and reliability can be improved；Using non-difference
Non-combined model, not only greatly reduces observation noise, improves the precision of Time Transmission；Ionization abundant is also obtained simultaneously
Layer and hardware delay product.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and core concept of the invention；At the same time, for those skilled in the art, according to this
The thought of invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not answered
It is interpreted as limitation of the present invention.
Claims (8)
1. a kind of three non-non-combined observation time delivering method of difference of frequency of Beidou, which is characterized in that including：
Obtain the carrier phase observable of the Chinese Beidou satellite navigation system at two passing time stations, Pseudo-range Observations, satellite ephemeris,
Earth rotation, antenna phase center parameter；
Data inspection, elimination of rough difference and Detection of Cycle-slip are carried out to the carrier phase observable, Pseudo-range Observations, obtained pretreated
Data；
Ephemeris, tide, the theory of relativity, earth rotation, atmosphere, antenna phase deviation equal error are carried out to the pretreated data
Model correction；
Construct the ionosphere virtual observation model of additional ionosphere prior information constraint, space region constraint and time region constraint；
The three non-non-combined Static Precise Point Positioning model of difference of frequency of building, and One-Point Location time service resolving is carried out to the data after correction,
Obtain the comprehensive clock deviation of the respective receiver in two passing time stations；
The comprehensive clock deviation of the respective receiver in two passing time stations is compared, it is poor to obtain Time Transmission；
It is compared according to the standard time at the Time Transmission difference and one of passing time station, obtains another passing time station
Chronometer time.
2. the three non-non-combined observation time delivering method of difference of frequency of a kind of Beidou according to claim 1, which is characterized in that
It is described that ephemeris, tide, the theory of relativity, earth rotation, atmosphere, antenna phase deviation equal error are carried out to the pretreated data
Model correction specifically includes：
Orbit error is corrected by Precise Orbit, clock deviation error is corrected by precise clock correction；
By additional ionosphere prior information, time-domain and the related constraint of spatial domain and ionosphere delay error as unknown ginseng
Number carries out real-time estimation；
Earth tide, tide, Ghandler motion, relativistic effect, antenna phase center variation variation, phase are turned around using corresponding model
It is corrected.
3. the three non-non-combined observation time delivering method of difference of frequency of a kind of Beidou according to claim 1, which is characterized in that
The virtual observation model for constructing the constraint of ionosphere prior information, space region constraint and time region constraint, specifically includes：
Using such as drag：VTEC=VTECGIM+εGIM；
Construct the constraint of ionosphere prior information；
Wherein, VTECGIMIndicate the total electron content that grid ionospheric model extracts, εGIMIndicate prior model error, σpriorIt takes
Value is 0.3-0.6 meters, and B indicates that the latitude of ionosphere point of puncture, t indicate the local time as unit of hour；
Using such as drag：
VTEC=VTECspace+εspace；
Establish ionosphere space region constraint；
Wherein, m and n is the end of surface model, and usual value is 2,With λ be point of puncture latitude and longitude,And λ0For
The latitude and longitude of survey station, EijThe coefficient of representative model.
Using such as drag：
VTEC=VTEClast+ΔVTEC+εtemp；
Establish ionosphere time region constraint；
Wherein, the epoch that Δ VTEC is ionosphere VTEC changes,For the variance of Δ VTEC, unit m2, value range is
0.009-0.025m2。
4. the three non-non-combined observation time delivering method of difference of frequency of a kind of Beidou according to claim 1, which is characterized in that
The three non-non-combined Static Precise Point Positioning model of difference of frequency of building, and One-Point Location time service resolving is carried out to the data after correction,
The comprehensive clock deviation of the respective receiver in two passing time stations is obtained, is specifically included：
The three non-non-combined Static Precise Point Positioning model of difference of frequency of building is as follows：
Wherein, P and φ is respectively pseudorange and carrier phase observation data, and f is frequency；Coefficient of frequencyρ is geometric distance of the satellite to survey station, c
For the light velocity, dt12For P1And P2The receiver clock-offsets of no ionospheric combination observation, dtsFor satellite clock correction, dtropFor tropospheric delay；
M is represented and earth tide, tide, earth rotation, relativistic effect, antenna phase center variation, turns around and multipath composition error；
N is fuzziness item, and the hardware delay deviation comprising satellite and receiver end, ε is observation noise, and IFB is receiver inter-frequency deviation；
DCB is pseudorange code inter-frequency deviation, and the code deviation of satellite end is provided by international GNSS service centre, and is possessed between different frequencyRelationship, dionFor the ionosphere delay in L1 frequency, dion=f (Z) *
VTEC, footmark behalf satellite,Z is satellite zenith angle, and VTEC is the total electron content of zenith direction,
Unit is TECU, and f (Z) is the mapping function for converting the VTEC of zenith direction to oblique path direction；
It is as follows to establish stochastic model：
One-Point Location time service solution is carried out to the amendment data in conjunction with the three non-non-combined Static Precise Point Positioning models of difference of frequency of foundation
It calculates, obtains the comprehensive clock deviation of reception at two stations；
Wherein, I is unit matrix；σ0=a/sin (E) is error in unit power；A is constant, and phase value is 0.002-
0.003m, pseudorange value are 0.2-2.0m；E is elevation of satellite, and unit is radian.
5. a kind of three non-non-combined observation Time Transmission system of difference of frequency of Beidou, which is characterized in that including：
Observation acquisition module, the carrier phase observable of the Chinese Beidou satellite navigation system for obtaining two passing time stations,
Pseudo-range Observations, satellite ephemeris, earth rotation, antenna phase center parameter；
Preprocessing module is visited for carrying out data inspection, elimination of rough difference and cycle slip to the carrier phase observable, Pseudo-range Observations number
It surveys, obtains pretreated data；
Module is corrected, for carrying out ephemeris, tide, the theory of relativity, earth rotation, atmosphere, antenna to the pretreated data
Phase deviation equal error model correction；
Virtual observation model construction module, for constructing additional ionosphere prior information constraint, space region constraint and time-domain about
The ionosphere virtual observation model of beam；
Module is resolved, for constructing the three non-non-combined Static Precise Point Positioning models of difference of frequency, and single-point is carried out to the data after correction
It positions time service to resolve, obtains the comprehensive clock deviation of the respective receiver in two passing time stations；
Time Transmission difference computing module is obtained for the comprehensive clock deviation of the respective receiver in two passing time stations to be compared
Time Transmission is poor；
Passing time module is obtained for being compared according to the standard time of the Time Transmission difference and one of passing time station
To the chronometer time at another passing time station.
6. the three non-non-combined observation Time Transmission system of difference of frequency of a kind of Beidou according to claim 5, which is characterized in that
The correction module, specifically includes：
Orbit parameter amending unit, for the amendment to orbit error；
Satellite ephemeris error amending unit, for the amendment to clock deviation error；
Ionosphere delay error amending unit, for ionosphere prior information, time-domain and the related constraint of spatial domain will to be added
And ionosphere delay error carries out real-time estimation as unknown parameter；
Satellite navigation relevant parameter amending unit, for inclined to earth tide, tide, Ghandler motion, relativistic effect, antenna phase center
Difference variation, phase are turned around to be corrected using corresponding model.
7. the three non-non-combined observation Time Transmission system of difference of frequency of a kind of Beidou according to claim 5, which is characterized in that
The virtual observation model construction module, specifically includes：
Ionosphere prior information restricted model construction unit, for using such as drag：VTEC=VTECGIM+εGIM；
Construct the constraint of ionosphere prior information；
Wherein, VTECGIMIndicate the total electron content that grid ionospheric model extracts, εGIMIndicate prior model error, σpriorIt takes
Value is 0.3-0.6 meters, and B indicates that the latitude of ionosphere point of puncture, t indicate the local time as unit of hour；
Ionosphere spatial domain restricted model construction unit, for using such as drag：
VTEC=VTECspace+εspace；
Establish ionosphere space region constraint；
Wherein, m and n is the end of surface model, and usual value is 2,With λ be point of puncture latitude and longitude,And λ0For
The latitude and longitude of survey station, EijThe coefficient of representative model.
Ionosphere time-domain restricted model construction unit, for using such as drag：
VTEC=VTEClast+ΔVTEC+εtemp；
Establish ionosphere time region constraint；
Wherein, the epoch that Δ VTEC is ionosphere VTEC changes,For the variance of Δ VTEC, unit m2, value range is
0.009-0.025m2。
8. the three non-non-combined observation Time Transmission system of difference of frequency of a kind of Beidou according to claim 5, which is characterized in that
The resolving module, specifically includes：
The three non-non-combined Static Precise Point Positioning model construction units of difference of frequency, for constructing the three non-non-combined Static Precise Point Positionings of difference of frequency
Model is as follows：
Wherein, P and φ is respectively pseudorange and carrier phase observation data, and f is frequency；Coefficient of frequencyρ is geometric distance of the satellite to survey station, c
For the light velocity, dt12For P1And P2The receiver clock-offsets of no ionospheric combination observation, dtsFor satellite clock correction, dtropFor tropospheric delay；
M is represented and earth tide, tide, earth rotation, relativistic effect, antenna phase center variation, turns around and multipath composition error；
N is fuzziness item, and the hardware delay deviation comprising satellite and receiver end, ε is observation noise, and IFB is receiver inter-frequency deviation；
DCB is pseudorange code inter-frequency deviation, and the code deviation of satellite end is provided by international GNSS service centre, and is possessed between different frequencyRelationship, dionFor the ionosphere delay in L1 frequency, dion=f (Z) *
VTEC, footmark behalf satellite,Z is satellite zenith angle, and VTEC is the total electron content of zenith direction,
Unit is TECU, and f (Z) is the mapping function for converting the VTEC of zenith direction to oblique path direction；
Stochastic model establishes unit, as follows for establishing stochastic model：
One-Point Location time service solution is carried out to the amendment data in conjunction with the three non-non-combined Static Precise Point Positioning models of difference of frequency of foundation
It calculates, obtains the comprehensive clock deviation of receiver at two stations；
Wherein, I is unit matrix；σ 0=a/sin (E) is error in unit power；A is constant, and phase value is 0.002-
0.003m, pseudorange value are 0.2-2.0m；E is elevation of satellite, and unit is radian.
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| CN115453851A (en) * | 2022-09-01 | 2022-12-09 | 广东电网有限责任公司 | BD 3-based multi-satellite comprehensive time service method, system, device and medium |
| CN115453851B (en) * | 2022-09-01 | 2024-02-13 | 广东电网有限责任公司 | BD 3-based multi-satellite comprehensive time service method, system, equipment and medium |
| CN115407371A (en) * | 2022-09-02 | 2022-11-29 | 中国人民解放军国防科技大学 | PPP-B2B-based real-time high-precision time transfer method and device |
| CN115407371B (en) * | 2022-09-02 | 2023-08-15 | 中国人民解放军国防科技大学 | PPP-B2B-based real-time high-precision time transmission method and device |
| CN115225245A (en) * | 2022-09-20 | 2022-10-21 | 中国科学院国家授时中心 | Non-differential non-combination PPP-RTK long baseline real-time transfer method |
| CN116184441B (en) * | 2022-12-20 | 2023-10-20 | 北京航空航天大学 | Precise atmospheric correction enhanced intelligent terminal PPP instantaneous sub-meter positioning method |
| CN116184441A (en) * | 2022-12-20 | 2023-05-30 | 北京航空航天大学 | Precise atmospheric correction enhanced intelligent terminal PPP instantaneous sub-meter positioning method |
| CN116243591B (en) * | 2023-01-28 | 2023-09-29 | 北京航空航天大学 | Subnanosecond time service method integrating UTC (k) and Beidou broadcast ephemeris |
| CN116243591A (en) * | 2023-01-28 | 2023-06-09 | 北京航空航天大学 | Subnanosecond time service method integrating UTC (k) and Beidou broadcast ephemeris |
| CN115856945A (en) * | 2023-02-03 | 2023-03-28 | 北京航空航天大学 | Precise single-point time service method, device and medium suitable for GNSS multi-frequency point |
| CN116299618A (en) * | 2023-03-24 | 2023-06-23 | 中国科学院精密测量科学与技术创新研究院 | Carrier phase satellite common view time transfer method based on PPP (point-to-point protocol) calculation parameters |
| CN116299618B (en) * | 2023-03-24 | 2024-03-19 | 中国科学院精密测量科学与技术创新研究院 | Carrier phase satellite common view time transfer method based on PPP (point-to-point protocol) calculation parameters |
| CN116540282B (en) * | 2023-05-08 | 2023-09-29 | 北京交通大学 | Inertial sensor assisted GNSS-based mobile carrier accurate time transfer method |
| CN116540282A (en) * | 2023-05-08 | 2023-08-04 | 北京交通大学 | Inertial sensor assisted GNSS-based mobile carrier accurate time transfer method |
| CN117031507A (en) * | 2023-10-08 | 2023-11-10 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Precise single point positioning method suitable for BDS-3B 1CB2a double-frequency signals |
| CN117310770A (en) * | 2023-11-28 | 2023-12-29 | 武汉理工大学三亚科教创新园 | Sea level height inversion method based on Beidou ionosphere-free combined precise single-point positioning |
| CN117310770B (en) * | 2023-11-28 | 2024-02-13 | 武汉理工大学三亚科教创新园 | Sea level height inversion method based on Beidou ionosphere-free combined precise single-point positioning |
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