CN108958018B - Satellite time service method and device and computer readable storage medium - Google Patents
Satellite time service method and device and computer readable storage medium Download PDFInfo
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- CN108958018B CN108958018B CN201810168521.6A CN201810168521A CN108958018B CN 108958018 B CN108958018 B CN 108958018B CN 201810168521 A CN201810168521 A CN 201810168521A CN 108958018 B CN108958018 B CN 108958018B
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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
- G04R20/04—Tuning or receiving; Circuits therefor
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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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/256—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to timing, e.g. time of week, code phase, timing offset
Abstract
The application discloses a satellite time service method and device and a computer readable storage medium, wherein the method comprises the following steps: acquiring two or more pieces of satellite observation information, calculating each error item influencing pseudo-range observation quantity by using the acquired satellite observation information, and calculating the geometric distance from the satellite to a receiver by using the pseudo-range observation quantity and a preset receiver coordinate; jointly calculating a receiver clock error and an ionosphere error coefficient by utilizing a pre-established observation equation, the calculated error terms and the geometric distance from the satellite to the receiver; and adjusting the local clock of the receiver according to the calculated clock difference of the receiver. According to the method and the device, the receiver clock error and the ionosphere error coefficient are jointly calculated by establishing the observation equation in advance, so that the precision of the receiver clock error is improved, the PPS precision is further improved, and the influence of the ionosphere error on the time service precision of the receiver is effectively reduced.
Description
Technical Field
The invention relates to the technical field of satellite navigation, in particular to a satellite time service method and device and a computer readable storage medium.
Background
With the rapid development of modern scientific and technological information technology, the precision requirements for time and frequency of various industries such as military, aerospace, deep space exploration, communication, traffic, electric power, finance, national defense and the like are higher and higher, and a high-precision time reference becomes one of basic guarantee platforms in the fields of communication, electric power, broadcast television, security monitoring, industrial control and the like. Satellite time service by adopting a Global Navigation Satellite System (GNSS) is the most effective way for high-precision time synchronization in a long distance and a large range at present.
Generally, a satellite time service device adopts a single-system single-frequency configuration, for example, a GPS L1 frequency point (1575.42MHZ) is used for time service, the time service precision of the satellite time service device is not high, and the requirement of 5G communication on the time service precision cannot be met, and the main reason is that an ionosphere delay error is calculated through a klibuchar (Klobuchar) model, and a certain error exists between a model value and a true value of an ionosphere, so that an error exists in calculation of a receiver clock difference, and further, the precision of Pulse Per Second (PPS) is not high.
Disclosure of Invention
In order to solve the technical problem, the invention provides a satellite time service method and device and a computer readable storage medium, which can improve the precision of the clock error of a receiver.
In order to achieve the purpose of the invention, the technical scheme of the embodiment of the invention is realized as follows:
the embodiment of the invention provides a satellite time service method, which comprises the following steps:
acquiring two or more pieces of satellite observation information, calculating each error item influencing pseudo-range observation quantity by using the acquired satellite observation information, and calculating the geometric distance from the satellite to a receiver by using the pseudo-range observation quantity and a preset receiver coordinate;
jointly calculating a receiver clock error and an ionosphere error coefficient by utilizing a pre-established observation equation, the calculated error terms and the geometric distance from the satellite to the receiver;
and adjusting the local clock of the receiver according to the calculated clock difference of the receiver.
Further, the method also comprises the following steps: establishing the observation equation; the observation equation includes:
wherein the variable z is P-rho + c.dts-T, P is a pseudorange observation in meters; rho is the geometric distance from the satellite to the receiver; c is the speed of light; dtsIs the satellite clock error, T is the tropospheric delay;
variable Δ t ═ c · dtr，dtrIs the receiver clock error;
variable IklobucharThe variable k is an ionospheric delay model value calculated according to a gram apocynum model.
Further, before jointly calculating the receiver clock error and the ionospheric error coefficient by using the pre-established observation equation and the calculated error terms and the geometric distance from the satellite to the receiver, the method further includes:
the pseudorange observations are smoothed with carrier phase observations to reduce observation noise in the pseudorange observations.
Further, the method for jointly calculating the receiver clock error and the ionosphere error coefficient is a least square method or a kalman filtering method.
Embodiments of the present invention also provide a computer-readable storage medium, which stores one or more programs, where the one or more programs are executable by one or more processors to implement the steps of the satellite time service method as described in any one of the above.
The embodiment of the invention also provides a satellite time service device, which comprises a first computing module, a second computing module and a time service module, wherein:
the first calculation module is used for acquiring two or more pieces of satellite observation information, calculating each error item influencing pseudo-range observation quantity by using the acquired satellite observation information, calculating the geometric distance from the satellite to the receiver by using the pseudo-range observation quantity and a preset receiver coordinate, and outputting each calculated error item and the geometric distance from the satellite to the receiver to the second calculation module;
the second calculation module is used for jointly calculating the receiver clock error and the ionosphere error coefficient by utilizing a pre-established observation equation, calculated error items and the geometric distance from the satellite to the receiver and outputting the calculated receiver clock error to the time service module;
and the time service module is used for adjusting the local clock of the receiver according to the calculated clock difference of the receiver.
Further, the pre-established observation equation is:
wherein the variable z is P-rho + c.dts-T, P is a pseudorange observation in meters; rho is the geometric distance from the satellite to the receiver; c is the speed of light; dtsIs the satellite clock error, T is the tropospheric delay;
variable Δ t ═ c · dtr，dtrIs the receiver clock error;
variable IklobucharThe variable k is an ionospheric delay model value calculated according to a gram apocynum model.
Further, the first computing module is further configured to:
the pseudorange observations are smoothed with carrier phase observations to reduce observation noise in the pseudorange observations.
Further, the method for jointly calculating the receiver clock error and the ionosphere error coefficient by the second calculation module is a least square method or a kalman filtering method.
The technical scheme of the invention has the following beneficial effects:
according to the satellite time service method and device and the computer readable storage medium, the receiver clock error and the ionosphere error coefficient are jointly calculated by establishing the observation equation in advance, so that the precision of the receiver clock error is improved, the precision of PPS is further improved, and the influence of the ionosphere error on the time service precision of the receiver is effectively reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a schematic flow chart of a satellite time service method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a coefficient k value obtained by real-time estimation using the observation equation and the Kalman filtering estimation method according to the invention based on a pseudo-range measurement value of a GPS L1 frequency point;
FIG. 3 is a schematic diagram of single-frequency time service precision obtained by using the observation equation and Kalman filtering estimation method of the present invention to estimate in real time based on a pseudo-range measurement value of a GPS L1 frequency point;
fig. 4 is a schematic structural diagram of a satellite time service device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.
Referring to fig. 1, an embodiment of the present invention provides a satellite time service method, including the following steps:
step 101: acquiring two or more pieces of satellite observation information, calculating each error item influencing pseudo-range observation quantity by using the acquired satellite observation information, and calculating the geometric distance from the satellite to a receiver by using the pseudo-range observation quantity and a preset receiver coordinate;
further, before step 101, the method further comprises: and establishing an observation equation, wherein the unknown quantity of the observation equation comprises the receiver clock error and the ionosphere error coefficient.
Specifically, first, a GNSS pseudorange and carrier phase observation non-difference function model is established as follows:
P＝ρ+c(dtr-dts)+T+I+ν (1)；
L＝ρ+c(dtr-dts)+T-I+λN+ (2)；
in the formula, P and L respectively represent pseudo range and carrier phase observed quantity, and the unit is meter; ρ represents the geometric distance of the satellite to the receiver; c is the speed of light; dtrAnd dtsRespectively representing a receiver clock error and a satellite clock error; t and I denote tropospheric delay and ionospheric delay, respectively; λ represents the wavelength of the carrier; n represents the whole cycle in the carrier phase observationThe degree of ambiguity; the sum v represents the pseudorange and carrier phase observed noise.
In the formula (1), an ionospheric delay model value I is calculated by a Klobuchar modelklobucharSetting ionospheric delay model value IklobucharAnd ionospheric delay truth value IrealHas a relationship ofreal＝k·IklobucharAnd the variable k is an ionospheric error coefficient, then the formula (1) is rewritten as:
P＝ρ+c(dtr-dts)+T+k·Iklobuchar+v (3)
further, the method can be obtained as follows:
P-ρ+c·dts-T＝c·dtr+k·Iklobuchar(4)
is out of order
z＝P-ρ+c·dts-T (5)
Δt＝c·dtr(6)
Then this is written as in equation (4):
equation (7) is the established observation equation.
Further, each error term influencing the pseudo-range observation comprises satellite clock error, an ionosphere delay model value, troposphere delay and the like.
Specifically, in the above formula, the pseudorange P is a measured value of the receiver, and ρ may be calculated according to a position of the receiver and a satellite pseudorange; satellite clock difference dtsObtaining from ephemeris; tropospheric delay T is calculated by Hopfield model, and ionospheric delay model value IklobucharCalculated by a gram Apocynum model.
Further, the step 101 further includes:
the pseudorange observations are smoothed with carrier phase observations to reduce pseudorange observation noise in the pseudorange observations.
In general, the measured noise of the carrier phase observed quantity L is much smaller than the measured noise v of the pseudo range observed quantity P, and the pseudo range noise is reduced by the carrier phase smoothing pseudo range algorithm to improve the timing accuracy.
Step 102: jointly calculating a receiver clock error and an ionosphere error coefficient by utilizing a pre-established observation equation, the calculated error terms and the geometric distance from the satellite to the receiver;
further, the variable z is calculated using the observed pseudo-range observations P of the plurality of satellites, and the state quantities Δ t and k are obtained by using a least square method or a kalman filter method according to formula (7).
Further, if pseudo range observations P of a plurality of satellite systems exist, observation equations similar to those shown in formula (7) of the plurality of satellite systems are constructed, and the state quantities Δ t and k are estimated through multi-system joint filtering.
Step 103: and adjusting the local clock of the receiver according to the calculated clock difference of the receiver.
The satellite time service device based on the GNSS system can track visible satellites, obtain the ephemeris, pseudorange, carrier wave and doppler of each satellite, and obtain the clock error and clock drift of the receiver by using the ephemeris and the observed quantity.
After the clock difference and the clock drift of the receiver are obtained through calculation, the accurate GNSS time corresponding to the sampling time of the receiver can be known, the clock pulse number required by the GNSS whole second time is further calculated, when the counter counts the clock pulse number, hardware can give out a pulse signal, namely PPS, and high-precision time service of the GNSS is achieved. Therefore, the key of high-precision time service is to obtain high-precision receiver clock difference and clock drift.
In general, the clock drift value of the receiver can be calculated through information such as Doppler and satellite velocity of each satellite, the accuracy is high, the error is usually less than 0.1m/s, and the influence on the accuracy of PPS is less than 0.5 ns. The calculation of the receiver clock difference has a double-frequency mode and a single-frequency mode, the precision of the double-frequency mode is higher, and the precision of the single-frequency mode is slightly lower. The accuracy of single-frequency time service based on GNSS is greatly influenced by ionospheric delay error, and the conventional Klobuchar model value can only compensate about 50% of the ionospheric delay error, so that ionospheric residual error is large, error of receiver clock error is large, and time service accuracy is not high.
The method utilizes the observed pseudo-range measurement values of a plurality of satellites to jointly calculate the ionospheric error coefficient and the receiver clock error by establishing an observation equation, and can effectively solve the problem of the ionospheric delay model value IklobucharThe problem of inaccuracy is that the estimated receiver clock error has high precision, and the receiver clock error is sent to the time service module, so that high-precision PPS can be output.
Fig. 2 is a pseudo-range measurement value based on a GPS L1 frequency point, and a coefficient k value obtained by real-time estimation using an observation equation and a kalman filter estimation method described in formula (7) is shown in fig. 3. Compared with the PPS of an accurate clock module, the PPS has the error peak-to-peak value of 16.6 nanoseconds (ns) and the mean square error of 2.6 ns.
An embodiment of the present invention further provides a computer-readable storage medium, where one or more programs are stored in the computer-readable storage medium, and the one or more programs are executable by one or more processors to implement the steps of the satellite time service method according to any one of the above.
As shown in fig. 4, an embodiment of the present invention further provides a satellite time service device, which includes a first computing module 401, a second computing module 402, and a time service module 403, where:
the first calculation module 401 is configured to obtain two or more pieces of satellite observation information, calculate each error item affecting a pseudo-range observation amount by using the obtained satellite observation information, calculate a geometric distance from a satellite to a receiver by using the pseudo-range observation amount and a preset receiver coordinate, and output each calculated error item and the geometric distance from the satellite to the receiver to the second calculation module 402;
a second calculation module 402, configured to jointly calculate a receiver clock offset and an ionosphere error coefficient by using a pre-established observation equation, the calculated error terms, and the geometric distance from the satellite to the receiver, and output the calculated receiver clock offset to the time service module 403;
and a time service module 403, configured to adjust a local clock of the receiver according to the calculated receiver clock difference.
Further, the pre-established observation equation is:
wherein the variable z is P-rho + c.dts-T, P is a pseudorange observation in meters; rho is the geometric distance from the satellite to the receiver; c is the speed of light; dtsIs the satellite clock error, T is the tropospheric delay;
variable Δ t ═ c · dtr，dtrIs the receiver clock error;
variable IklobucharThe variable k is an ionospheric delay model value calculated according to a gram apocynum model.
Further, each error term influencing the pseudo-range observation comprises satellite clock error, an ionosphere delay model value, troposphere delay and the like.
Specifically, in the above formula, the pseudorange P is a measured value of the receiver, and ρ may be calculated according to a position of the receiver and a satellite pseudorange; satellite clock difference dtsObtaining from ephemeris; tropospheric delay T is calculated by Hopfield model, and ionospheric delay model value IklobucharCalculated by a gram Apocynum model.
Further, the first computing module 401 is further configured to:
the pseudorange observations are smoothed with carrier phase observations to reduce observation noise in the pseudorange observations.
In general, the measured noise of the carrier phase observed quantity L is much smaller than the measured noise v of the pseudo range observed quantity P, and the pseudo range noise is reduced by the carrier phase smoothing pseudo range algorithm to improve the timing accuracy.
Further, the method for jointly calculating the receiver clock error and the ionosphere error coefficient by the second calculation module 402 is a least square method or a kalman filtering method.
Further, if pseudo-range observations P of a plurality of satellite systems exist, observation equations similar to equation (7) of the plurality of satellite systems are constructed in advance, and the state quantities Δ t and k are estimated through multi-system joint filtering.
It will be understood by those skilled in the art that all or part of the steps of the above methods may be implemented by instructing the relevant hardware through a program, and the program may be stored in a computer readable storage medium, such as a read-only memory, a magnetic or optical disk, and the like. Alternatively, all or part of the steps of the foregoing embodiments may also be implemented by using one or more integrated circuits, and accordingly, each module/unit in the foregoing embodiments may be implemented in the form of hardware, and may also be implemented in the form of a software functional module. The present invention is not limited to any specific form of combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A satellite time service method is characterized by comprising the following steps:
establishing an observation equation, wherein the observation equation comprises:
wherein the variable z is P-rho + c.dts-T, P is a pseudorange observation in meters; rho is the geometric distance from the satellite to the receiver; c is the speed of light; dtsIs the satellite clock error, T is the tropospheric delay; variable Δ t ═ c · dtr，dtrIs the receiver clock error; variable IklobucharThe model value of the ionized layer delay is calculated according to the gram apocynum model, and the variable k is an ionized layer error coefficient;
acquiring more than two pieces of satellite observation information, calculating each error item influencing pseudo-range observation quantity by using the acquired satellite observation information, and calculating the geometric distance from a satellite to a receiver by using the pseudo-range observation quantity and a preset receiver coordinate;
jointly calculating a receiver clock error and an ionospheric error coefficient by using the established observation equation, the calculated error terms and the calculated geometric distance from the satellite to the receiver;
and adjusting the local clock of the receiver according to the calculated clock difference of the receiver.
2. The satellite timing method according to claim 1, wherein before jointly calculating the receiver clock error and the ionospheric error coefficient using the established observation equation and the calculated error terms and the geometric distance from the satellite to the receiver, the method further comprises:
the pseudorange observations are smoothed with carrier phase observations to reduce observation noise in the pseudorange observations.
3. The satellite time service method according to claim 1, wherein the method for jointly calculating the receiver clock error and the ionosphere error coefficient is a least square method or a kalman filtering method.
4. A computer-readable storage medium, storing one or more programs which are executable by one or more processors for implementing the steps of the satellite timing method according to any one of claims 1 to 3.
5. The satellite time service device is characterized by comprising a first calculation module, a second calculation module and a time service module, wherein:
the first calculation module is used for acquiring more than two pieces of satellite observation information, calculating each error item influencing pseudo-range observation quantity by using the acquired satellite observation information, calculating the geometric distance from the satellite to the receiver by using the pseudo-range observation quantity and a preset receiver coordinate, and outputting each calculated error item and the geometric distance from the satellite to the receiver to the second calculation module;
the second calculation module is used for jointly calculating the receiver clock error and the ionosphere error coefficient by utilizing a pre-established observation equation, calculated error terms and the geometric distance from the satellite to the receiver, and outputting the calculated receiver clock error to the time service module, wherein the pre-established observation equation is as follows:
wherein the variable z is P-rho + c.dts-T, P is a pseudorange observation in meters; rho is the geometric distance from the satellite to the receiver; c is the speed of light; dtsIs the satellite clock error, T is the tropospheric delay; variable Δ t ═ c · dtr，dtrIs the receiver clock error; variable IklobucharThe model value of the ionized layer delay is calculated according to the gram apocynum model, and the variable k is an ionized layer error coefficient;
and the time service module is used for adjusting the local clock of the receiver according to the calculated clock difference of the receiver.
6. The satellite time service device of claim 5, wherein the first computing module is further configured to:
the pseudorange observations are smoothed with carrier phase observations to reduce observation noise in the pseudorange observations.
7. The satellite time service device according to claim 5, wherein the method for jointly calculating the receiver clock error and the ionosphere error coefficient of the second calculation module is a least square method or a Kalman filtering method.
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| CN112799107B (en) * | 2020-12-28 | 2022-02-18 | 中国科学院国家授时中心 | Dynamic time service system and method |
| CN113341437A (en) * | 2021-05-21 | 2021-09-03 | 东南大学 | GNSS unmodeled error inversion method |
| CN113608248B (en) * | 2021-06-25 | 2023-06-13 | 北京建筑大学 | Beidou 5G fusion high-precision patrol personnel positioning method and related equipment |
| 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 |
| CN113985213B (en) * | 2021-11-06 | 2024-02-23 | 威胜能源技术股份有限公司 | Correction method for errors of Beidou time service module during power distribution network fault distance measurement |
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