CN110058274A - Time difference monitoring method and system between a kind of satellite navigation system - Google Patents
Time difference monitoring method and system between a kind of satellite navigation system Download PDFInfo
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- CN110058274A CN110058274A CN201910379350.6A CN201910379350A CN110058274A CN 110058274 A CN110058274 A CN 110058274A CN 201910379350 A CN201910379350 A CN 201910379350A CN 110058274 A CN110058274 A CN 110058274A
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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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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Abstract
The invention discloses the time difference monitoring methods and system between a kind of satellite navigation system.The present invention provides a kind of time difference monitoring method based on differential principle between system, difference observational equation and carries out parameter Estimation by difference between original Pseudo-range Observations carry out system, between composition system and directly obtains system time-difference parameter.This method passes through differential principle between system, effectively weakens part general character error, increases combination observation amount, improves parametric solution intensity and redundancy；Numerous receiver clock-offsets parameters has been effectively eliminated simultaneously, high-precision survey station position and system time-difference parameter information can be directly obtained.
Description
Technical field
The present invention relates to field of satellite navigation, in particular to time difference monitoring method between a kind of satellite navigation system and it is
System.
Background technique
Exist between different satellite navigation system (Global Navigation Satellite System, GNSS) systems and is
It unites time-difference parameter, there are great influences with Interoperability for its compatibility to more GNSS.Currently, the monitoring of the GNSS system time difference is main
There is settling time to compare link and spacing wave method.Settling time compares link methodology and needs dedicated expensive device, it is difficult to real
It applies；And common pseudorange observation and One-Point Location mode of the spacing wave method based on low precision, precision are lower.It is how both effective
The cost for reducing time difference monitoring, while ensureing preferable time difference monitoring accuracy again, preferably serves the compatibility and mutually of more GNSS
Operation has important value.
Summary of the invention
The object of the present invention is to provide the time difference monitoring methods and system between a kind of satellite navigation system, to obtain high-precision
System time-difference parameter information, and reduce monitoring cost.
To achieve the above object, the present invention provides following schemes:
The present invention provides the time difference monitoring method between a kind of satellite navigation system, and the monitoring method includes the following steps:
The double frequency Pseudo-range Observations and auxiliary parameter value for obtaining every satellite of the first satellite navigation system to be monitored, obtain
To the first double frequency pseudorange observation data and the first secondary parameter data；The auxiliary parameter value includes satellite orbit, satellite clock correction
And earth rotation parameter (ERP)；
The double frequency Pseudo-range Observations and auxiliary parameter value for obtaining every satellite of the second satellite navigation system to be monitored, obtain
To the second double frequency pseudorange observation data and the second secondary parameter data；
The first double frequency pseudorange observation data and the second double frequency pseudorange observation data are carried out without ionosphere respectively
Combination obtains the first double frequency pseudorange without ionosphere and observes data and the second double frequency pseudorange without ionosphere observation data；
Data and the second double frequency pseudorange are observed without ionospheric combination without ionospheric combination to the first double frequency pseudorange
It observes data and carries out calculus of differences, establish difference observational equation；
Calculus of differences is carried out to first secondary parameter data and second secondary parameter data, establishes time difference monitoring
Stochastic model；
The difference observational equation is solved using least square method and the time difference monitors stochastic model, obtains the first satellite navigation
Time-difference parameter between system and the second satellite navigation system.
Optionally, it is described to the first double frequency pseudorange without ionospheric combination observe data and the second double frequency pseudorange without
Ionospheric combination observes data and carries out calculus of differences, establishes difference observational equation, specifically includes:
Data and the second double frequency pseudorange are observed without ionospheric combination without ionospheric combination to the first double frequency pseudorange
It observes data and carries out calculus of differences, establish difference observational equation:
Wherein, PA,iAnd PB,jRespectively indicate i-th satellite and the second satellite navigation system B of the first satellite navigation system A
Jth satellite double frequency pseudorange without ionospheric combination observation, ρA,iIndicate i-th satellite of the first satellite navigation system A with
Geometric distance between survey station, ρB,jIndicate the geometric distance between the jth satellite and survey station of the second satellite navigation system B；The time difference between the first satellite navigation system A and the second satellite navigation system B；MA,iAnd MB,jRespectively indicate
The troposphere mapping coefficient of the jth satellite of i-th satellite and the second satellite navigation system B of one satellite navigation system A；
WithRespectively indicate the observation of i-th satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system B
Noise；T is tropospheric delay, and others is the theory of relativity error, tide error, antenna phase center variation, troposphere residual sum
The summation of earth rotation error.
It is optionally, described that calculus of differences is carried out to first secondary parameter data and second secondary parameter data,
Time difference monitoring stochastic model is established, is specifically included:
The elevation angle that every satellite of first satellite navigation system is calculated according to first secondary parameter data, obtains
To the first height angular data；
The elevation angle that every satellite of second satellite navigation system is calculated according to second secondary parameter data, obtains
To the second height angular data；
According to the first height angular data and the second height angular data, time difference monitoring stochastic model is established:
Wherein, αAiFor the measurement noise of i-th satellite of the first satellite navigation system A, αBjFor the second satellite navigation system
The measurement noise of the jth satellite of B, EAiFor the elevation angle of i-th satellite of the first satellite navigation system A, EBiIt is defended for second
The elevation angle of the jth satellite of star navigation system B.
Optionally, described that the difference observational equation and time difference monitoring stochastic model are solved using least square method, it obtains
Time-difference parameter between first satellite navigation system and the second satellite navigation system, specifically includes:
The difference observational equation is subjected to linearization process, obtains error equation: V=EX-L；
Wherein, V is residual error vector,vAB,AiBjIndicate the first satellite navigation system i-th satellite A and
The double frequency pseudorange of the jth satellite of second satellite navigation system B is without the difference of ionospheric combination observation；I=1,2 ..., R, j
=1,2 ..., S, R indicate the quantity of the satellite of the first satellite navigation system, and S indicates the number of the satellite of the second satellite navigation system
Measure vAB,AiBj=PA,i-PB,j；E is unknown parameter coefficient matrix,ΔmAB,AiBjIndicate the i-th of the first satellite navigation system A
The difference of the troposphere mapping system of the jth satellite of satellite and the second satellite navigation system B, Δ mAB,AiBj=MA,i-MB,j；Indicate the jth satellite position of the first satellite navigation system A to
The unit vector of the jth satellite position of two satellite navigation system B；X is unknown parameter vector,(x,y,
It z) is the three-dimensional coordinate of survey station, L is constant term vector,lAB,AiBjIt indicates with the first satellite navigation system A's
The relevant constant coefficient of jth satellite of i-th satellite and the second satellite navigation system B；
Linear process is carried out to time difference monitoring stochastic model, obtains the corresponding power battle array of the error equation:pAB,AiBjIndicate i-th satellite and the second satellite navigation of the first satellite navigation system A
Weight of the double frequency pseudorange of the jth satellite of system B without ionosphere observation data；
Formula X=[T is utilized using least square method according to the error equation and the error equation corresponding power battle array
(E)PE]-1* [T (E) PL] solves unknown parameter vector X, obtains the three-dimensional coordinate (x, y, z) of survey station, tropospheric delay T and the
The time difference between one satellite navigation system A and the second satellite navigation system B
The present invention also provides the time differences between a kind of satellite navigation system to monitor system, which is characterized in that the monitoring system
Include:
First data acquisition module, the double frequency pseudorange of every satellite for obtaining the first satellite navigation system to be monitored
Observation and auxiliary parameter value obtain the first double frequency pseudorange observation data and the first secondary parameter data；The auxiliary parameter value
Including satellite orbit, satellite clock correction and earth rotation parameter (ERP)；
Second data acquisition module, the double frequency pseudorange of every satellite for obtaining the second satellite navigation system to be monitored
Observation and auxiliary parameter value obtain the second double frequency pseudorange observation data and the second secondary parameter data；
Without ionospheric combination module, for respectively to the first double frequency pseudorange observation data and the second double frequency pseudorange
Data are observed obtain the first double frequency pseudorange without ionospheric combination without ionosphere and observe data and the second double frequency pseudorange without ionization
Layer observation data；
Difference observational equation establishes module, for observing data and described without ionospheric combination to the first double frequency pseudorange
Second double frequency pseudorange carries out calculus of differences without ionospheric combination observation data, establishes difference observational equation；
Time difference monitoring stochastic model establishes module, for first secondary parameter data and second auxiliary parameter
Data carry out calculus of differences, establish time difference monitoring stochastic model；
Parametric solution module, for solving the difference observational equation and the random mould of time difference monitoring using least square method
Type obtains the time-difference parameter between the first satellite navigation system and the second satellite navigation system.
Optionally, the difference observational equation establishes module, specifically includes:
Difference observational equation setting up submodule, for observing data and institute without ionospheric combination to the first double frequency pseudorange
It states the second double frequency pseudorange and carries out calculus of differences without ionospheric combination observation data, establish difference observational equation:
Wherein, PA,iAnd PB,jRespectively indicate i-th satellite and the second satellite navigation system B of the first satellite navigation system A
Jth satellite double frequency pseudorange without ionospheric combination observation, ρA,iIndicate i-th satellite of the first satellite navigation system A with
Geometric distance between survey station, ρB,jIndicate the geometric distance between the jth satellite and survey station of the second satellite navigation system B；The time difference between the first satellite navigation system A and the second satellite navigation system B；MA,iAnd MB,jRespectively indicate
The troposphere mapping coefficient of the jth satellite of i-th satellite and the second satellite navigation system B of one satellite navigation system A；
WithRespectively indicate the observation of i-th satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system B
Noise；T is tropospheric delay, and others is the theory of relativity error, tide error, antenna phase center variation, troposphere residual sum
The summation of earth rotation error.
Optionally, the time difference monitoring stochastic model establishes module, specifically includes:
First elevation angle computational submodule, for calculating first satellite navigation according to first secondary parameter data
The elevation angle of every satellite of system obtains the first height angular data；
Second elevation angle computational submodule, for calculating second satellite navigation according to second secondary parameter data
The elevation angle of every satellite of system obtains the second height angular data；
The time difference monitors stochastic model setting up submodule, for according to the first height angular data and second elevation angle
Data establish time difference monitoring stochastic model:
Wherein, αAiFor the measurement noise of i-th satellite of the first satellite navigation system A, αBjFor the second satellite navigation system
The measurement noise of the jth satellite of B, EAiFor the elevation angle of i-th satellite of the first satellite navigation system A, EBiFor the second satellite
The jth elevation of satellite of navigation system B.
Optionally, the parametric solution module, specifically includes:
First linear beggar's module obtains error equation: V for the difference observational equation to be carried out linearization process
=EX-L；
Wherein, V is residual error vector,vAB,AiBjIndicate the first satellite navigation system i-th satellite A and
The double frequency pseudorange of the jth satellite of second satellite navigation system B is without the difference of ionospheric combination observation；I=1,2 ..., R, j
=1,2 ..., S, R indicate the quantity of the satellite of the first satellite navigation system, and S indicates the number of the satellite of the second satellite navigation system
Measure vAB,AiBj=PA,i-PB,j；E is unknown parameter coefficient matrix,ΔmAB,AiBjIndicate the i-th of the first satellite navigation system A
The difference of the troposphere mapping system of the jth satellite of satellite and the second satellite navigation system B, Δ mAB,AiBj=MA,i-MB,j；Indicate that the jth satellite position of the first satellite navigation system A is defended to second
The unit vector of the jth satellite position of star navigation system B；X is unknown parameter vector,(x, y, z) is
The three-dimensional coordinate of survey station, L are constant term vector,lAB,AiBjIndicate i-th with the first satellite navigation system A
The relevant constant coefficient of jth satellite of satellite and the second satellite navigation system B；
Second linearisation submodule, for obtaining Quan Zhen to time difference monitoring stochastic model progress linear process:pAB,AiBjIndicate i-th satellite and the second satellite navigation of the first satellite navigation system A
The double frequency pseudorange of the jth satellite of system B is without the weight of ionospheric combination observation；
Parametric solution submodule, for being utilized according to error equation power battle array corresponding with its using least square method
Formula X=[T (E) PE]-1* [T (E) PL] solves unknown parameter vector X, obtains three-dimensional coordinate (x, y, z), the convection current of monitoring survey station
The time difference between layer delay T and the first satellite navigation system A and the second satellite navigation system B
The specific embodiment provided according to the present invention, the invention discloses following technical effects:
The invention discloses the time difference monitoring methods and system between a kind of satellite navigation system.The present invention provides one kind and is based on
The time difference monitoring method of differential principle between system, by difference between original Pseudo-range Observations carry out system, difference between composition system
Observational equation simultaneously carries out parameter Estimation and directly obtains system time-difference parameter.This method passes through differential principle between system, effectively cuts
Weak part general character error, increases combination observation amount, improves parametric solution intensity and redundancy；It effectively eliminates simultaneously
Numerous receiver clock-offsets parameters can directly obtain high-precision survey station position and system time-difference parameter information.
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 other attached drawings.
Fig. 1 is the flow chart of the time difference monitoring method between a kind of satellite navigation system provided by the invention；
Fig. 2 is the schematic diagram of the time difference monitoring method between a kind of satellite navigation system provided by the invention；
Fig. 3 is the structure chart of the time difference monitoring system between a kind of satellite navigation system provided by the invention.
Specific embodiment
The object of the present invention is to provide the time difference monitoring methods and system between a kind of satellite navigation system, to obtain high-precision
System time-difference parameter information, and reduce monitoring cost.
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
Mode is applied to be described in further detail invention.
As illustrated in fig. 1 and 2, the present invention provides the time difference monitoring method between a kind of satellite navigation system, the monitoring method
Include the following steps:
Firstly, data acquisition.The GNSS observation data to be monitored acquired on collection survey station, Precise Orbit, clock deviation product,
And the auxiliary product (earth rotation parameter (ERP), DCB correction, day line file etc.) that data processing needs, it is specific:
Step 101, the double frequency Pseudo-range Observations and auxiliary of every satellite of the first satellite navigation system to be monitored are obtained
Parameter value obtains the first double frequency pseudorange without ionospheric combination and observes data and the first auxiliary parameter；The auxiliary parameter value includes
Satellite orbit, satellite clock correction and earth rotation parameter (ERP).
Step 102, the double frequency Pseudo-range Observations and auxiliary of every satellite of the second satellite navigation system to be monitored are obtained
Parameter value obtains the second double frequency pseudorange without ionospheric combination and observes data and the second auxiliary parameter.
Step 103, the first double frequency pseudorange observation data and the second double frequency pseudorange observation data are carried out respectively
Without ionospheric combination, the first double frequency pseudorange is obtained without ionosphere and observes data and the second double frequency pseudorange without ionosphere observation data.
The first double frequency pseudorange observation data, the first auxiliary parameter and the second double frequency pseudorange observation data for acquisition and
Two auxiliary parameters are based on the first auxiliary parameter and the second auxiliary parameter, pseudo- to the first double frequency pseudorange observation data and the second double frequency
Quality of data inspection, elimination of rough difference are carried out away from observation data, deletes without satellite ephemeris or the incomplete data of observation, is done
Net data；And the theory of relativity, tide, antenna phase center, troposphere and earth rotation error are carried out to the clean data
Amendment, wherein the theory of relativity and tide correction are using the Modifying model in IERS Conventions 2010, in antenna phase
Heart correction uses igs14.atx Modifying model, and troposphere correction uses Saastamoinen Modifying model, and earth rotation error changes
Just use IERS EOP C04 Modifying model；Revised double frequency Pseudo-range Observations formed without ionospheric combination without electricity
Absciss layer combination observation.
Then, difference observation composition between system.GNSS system independent for two, by every satellite of a certain system point
Difference, difference observation between composition system are not carried out with every satellite of another system.
Then, time difference monitoring model is established.Based on track and clock deviation product, the corresponding satellite altitude of every satellite is calculated
Angle and survey station higher troposphere projection coefficient, the function model and stochastic model of the monitoring of the composition time difference are specific:
Step 104, data and the second double frequency pseudorange are observed without electricity without ionospheric combination to the first double frequency pseudorange
Absciss layer combination observation data carry out calculus of differences, establish difference observational equation:
Wherein, PA,iAnd PB,jRespectively indicate i-th satellite and the second satellite navigation system B of the first satellite navigation system A
Jth satellite double frequency pseudorange without ionospheric combination observation, ρA,iIndicate i-th satellite of the first satellite navigation system A with
Geometric distance between survey station, ρB,jIndicate the geometric distance between the jth satellite and survey station of the second satellite navigation system B；The time difference between the first satellite navigation system A and the second satellite navigation system B；MA,iAnd MB,jRespectively indicate
The troposphere mapping coefficient of the jth satellite of i-th satellite and the second satellite navigation system B of one satellite navigation system A；
WithRespectively indicate the observation of i-th satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system B
Noise；T is tropospheric delay, and others is the theory of relativity error, tide error, antenna phase center variation, troposphere residual sum
The summation of earth rotation error.
Step 105, calculus of differences is carried out to first secondary parameter data and second secondary parameter data, established
The time difference monitors stochastic model；It specifically includes:
The elevation angle that every satellite of first satellite navigation system is calculated according to first secondary parameter data, obtains
To the first height angular data；
The elevation angle that every satellite of second satellite navigation system is calculated according to second secondary parameter data, obtains
To the second height angular data；
According to the first height angular data and the second height angular data, time difference monitoring stochastic model is established:
Wherein, αAiFor the measurement noise of i-th satellite of the first satellite navigation system A, αBjFor the second satellite navigation system
The measurement noise of the jth satellite of B, EAiFor the elevation angle of i-th satellite of the first satellite navigation system A, EBiIt is defended for second
The elevation angle of the jth satellite of star navigation system B
Finally, time-difference parameter is estimated.Parameter Estimation, real-time estimation survey station coordinate, convection current are carried out using least-squares algorithm
Layer parameter and time difference monitoring parameters, specific:
Step 106, the difference observational equation is solved using least square method and the time difference monitors stochastic model, obtain first
Time-difference parameter between satellite navigation system and the second satellite navigation system.
Specifically, the difference observational equation is carried out linearization process, error equation is obtained: V=EX-L；
Wherein, V is residual error vector,vAB,AiBjIndicate the first satellite navigation system i-th satellite A and
The double frequency pseudorange of the jth satellite of second satellite navigation system B is without the difference of ionospheric combination observation；I=1,2 ..., R, j
=1,2 ..., S, R indicate the quantity of the satellite of the first satellite navigation system, and S indicates the number of the satellite of the second satellite navigation system
Measure vAB,AiBj=PA,i-PB,j；E is unknown parameter coefficient matrix,
ΔmAB,AiBjIndicate the convection current of i-th satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system B
The difference of layer mapping system, Δ mAB,AiBj=MA,i-MB,j；Indicate the first satellite navigation
Unit vector of the jth satellite position of system A to the jth satellite position of the second satellite navigation system B；X is
Unknown parameter vector,(x, y, z) is the three-dimensional coordinate of survey station, and L is constant term vector,lAB ,AiBjIndicate constant relevant to the jth satellite of i-th satellite and the second satellite navigation system B of the first satellite navigation system A
Coefficient；
Linear process is carried out to time difference monitoring stochastic model, obtains the corresponding power battle array of the error equation:pAB,AiBjIndicate i-th satellite and the second satellite navigation of the first satellite navigation system A
The double frequency pseudorange of the jth satellite of system B is without the weight of ionospheric combination observation；
Formula X=[T is utilized using least square method according to the error equation and the error equation corresponding power battle array
(E)PE]-1* [T (E) PL] solves unknown parameter vector X, obtain the monitoring three-dimensional coordinate (x, y, z) of survey station, tropospheric delay T and
The time difference between first satellite navigation system A and the second satellite navigation system B
Unknown parameter is survey station three-dimensional coordinate (x, y, z), tropospheric delay (T) and the system time differenceTropospheric delay
Estimation in each hour is primary, and survey station three-dimensional coordinate can be with static estimation or dynamic estimation, each epoch estimation of system time-difference parameter
Once.
As shown in figure 3, the present invention also provides the time differences between a kind of satellite navigation system to monitor system, the monitoring system packet
It includes:
First data acquisition module 301, the double frequency of every satellite for obtaining the first satellite navigation system to be monitored
Pseudo-range Observations and auxiliary parameter value obtain the first double frequency pseudorange observation data and the first secondary parameter data；The auxiliary ginseng
Numerical value includes satellite orbit, satellite clock correction and earth rotation parameter (ERP)；
Second data acquisition module 302, the double frequency of every satellite for obtaining the second satellite navigation system to be monitored
Pseudo-range Observations and auxiliary parameter value obtain the second double frequency pseudorange observation data and the second secondary parameter data；
Without ionospheric combination module 303, for respectively to the first double frequency pseudorange observation data and second double frequency
Pseudorange observation data are carried out without ionospheric combination, obtain the first double frequency pseudorange without ionosphere observe data and the second double frequency pseudorange without
Data are observed in ionosphere；
Difference observational equation establishes module 304, for the first double frequency pseudorange without ionospheric combination observation data and
The second double frequency pseudorange carries out calculus of differences without ionospheric combination observation data, establishes difference observational equation；The difference is seen
Survey establishing equation module 305, specifically include: difference observational equation setting up submodule is used for the first double frequency pseudorange without electricity
Absciss layer combination observation data and the second double frequency pseudorange establish difference sight without ionospheric combination observation data progress calculus of differences
Survey equation:
Wherein, PA,iAnd PB,jRespectively indicate i-th satellite and the second satellite navigation system B of the first satellite navigation system A
Jth satellite double frequency pseudorange without ionospheric combination observation, ρA,iIndicate i-th satellite of the first satellite navigation system A with
Geometric distance between survey station, ρB,jIndicate the geometric distance between the jth satellite and survey station of the second satellite navigation system B；The time difference between the first satellite navigation system A and the second satellite navigation system B；MA,iAnd MB,jRespectively indicate
The troposphere mapping coefficient of the jth satellite of i-th satellite and the second satellite navigation system B of one satellite navigation system A；
WithRespectively indicate the observation of i-th satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system B
Noise；T is tropospheric delay, and others is the theory of relativity error, tide error, antenna phase center variation, troposphere residual sum
The summation of earth rotation error.
Time difference monitoring stochastic model establishes module 304, for first secondary parameter data and second auxiliary
Supplemental characteristic carries out calculus of differences, establishes time difference monitoring stochastic model；The time difference monitoring stochastic model establishes module 304, has
Body includes: the first elevation angle computational submodule, for calculating first satellite navigation according to first secondary parameter data
The elevation angle of every satellite of system obtains the first height angular data；Second elevation angle computational submodule, for according to described the
Two secondary parameter datas calculate the elevation angle of every satellite of second satellite navigation system, obtain the second height angular data；
The time difference monitors stochastic model setting up submodule, for building according to the first height angular data and the second height angular data
Poor monitoring stochastic model immediately:
Wherein, αAiFor the measurement noise of i-th satellite of the first satellite navigation system A, αBjFor the second satellite navigation system
The measurement noise of the jth satellite of B, EAiFor the elevation angle of i-th satellite of the first satellite navigation system A, EBiFor the second satellite
The jth elevation of satellite of navigation system B.
Parametric solution module 305, for solving the difference observational equation and time difference monitoring at random using least square method
Model obtains the time-difference parameter between the first satellite navigation system and the second satellite navigation system.
The parametric solution module 305, specifically includes:
First linear beggar's module obtains error equation: V for the difference observational equation to be carried out linearization process
=EX-L.
Wherein, V is residual error vector,vAB,AiBjIndicate the first satellite navigation system i-th satellite A and
The double frequency pseudorange of the jth satellite of second satellite navigation system B is without the difference of ionospheric combination observation；I=1,2 ..., R, j
=1,2 ..., S, R indicate the quantity of the satellite of the first satellite navigation system, and S indicates the number of the satellite of the second satellite navigation system
Measure vAB,AiBj=PA,i-PB,j；E is unknown parameter coefficient matrix,ΔmAB,AiBjIndicate the i-th of the first satellite navigation system A
The difference of the troposphere mapping system of the jth satellite of satellite and the second satellite navigation system B, Δ mAB,AiBj=MA,i-MB,j；Indicate the jth satellite position of the first satellite navigation system A to the second satellite
The unit vector of the jth satellite position of navigation system B；X is unknown parameter vector,(x, y, z) is to survey
The three-dimensional coordinate stood, L are constant term vector,lAB,AiBjIt indicates to defend with i-th of the first satellite navigation system A
The relevant constant coefficient of jth satellite of star and the second satellite navigation system B.
Second linearisation submodule obtains the error for carrying out linear process to time difference monitoring stochastic model
The corresponding power battle array of equation:pAB,AiBjIndicate i-th satellite of the first satellite navigation system A
Double frequency pseudorange with the jth satellite of the second satellite navigation system B is without the weight of ionospheric combination observation.
Parametric solution submodule is used for according to the error equation and the corresponding power battle array of the error equation, using minimum
Square law utilizes formula X=[T (E) PE]-1* [T (E) PL] solve unknown parameter vector X, obtain survey station three-dimensional coordinate (x, y,
Z), the time difference between tropospheric delay T and the first satellite navigation system A and the second satellite navigation system B
The beneficial effects of the present invention are:
First, difference processing between immediate system obtains high-precision time-difference parameter information.
Difference processing between GNSS observation directly carry out system had both been eliminated the receiver with stochastic behaviour by the present invention
Clock deviation parameter, and system time-difference parameter information is remained, it may be directly applied to the monitoring of GNSS system time-difference parameter.
Second, effectively weaken general character error, increases combination observation amount, improve the intensity and performance of parametric solution.
System differential principle can eliminate the general character error such as some multipaths, coordinate system, while pass through observation
Difference combination, increases observed quantity, improves the mold strength and parameter Estimation performance of parametric solution.
Third, method is simple and reliable, convenient to implement in real time.
The complex and expensive equipment of link is compared relative to settling time, the present invention can simply be implemented in user terminal, and
And only need simple difference resolving that can complete time difference monitoring, and convenient application in real time.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For system disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
Specific examples are used herein to describe the principles and implementation manners of the present invention, the explanation of above embodiments
Method and its core concept of the invention are merely used to help understand, described embodiment is only that a part of the invention is real
Example is applied, instead of all the embodiments, based on the embodiments of the present invention, those of ordinary skill in the art are not making creation
Property labour under the premise of every other embodiment obtained, shall fall within the protection scope of the present invention.
Claims (8)
1. the time difference monitoring method between a kind of satellite navigation system, which is characterized in that the monitoring method includes the following steps:
The double frequency Pseudo-range Observations and auxiliary parameter value for obtaining every satellite of the first satellite navigation system to be monitored obtain
One double frequency pseudorange observation data and the first secondary parameter data；The auxiliary parameter value includes satellite orbit, satellite clock correction and ground
Revolutions parameter；
The double frequency Pseudo-range Observations and auxiliary parameter value for obtaining every satellite of the second satellite navigation system to be monitored obtain
Two double frequency pseudorange observation data and the second secondary parameter data；
The first double frequency pseudorange observation data and the second double frequency pseudorange observation data are carried out without ionospheric combination respectively,
It obtains the first double frequency pseudorange and observes data and the second double frequency pseudorange without ionosphere observation data without ionosphere；
Data and the second double frequency pseudorange is observed without ionospheric combination to the first double frequency pseudorange to observe without ionospheric combination
Data carry out calculus of differences, establish difference observational equation；
Calculus of differences is carried out to first secondary parameter data and second secondary parameter data, it is random to establish time difference monitoring
Model；
The difference observational equation is solved using least square method and the time difference monitors stochastic model, obtains the first satellite navigation system
And the second time-difference parameter between satellite navigation system.
2. the time difference monitoring method between satellite navigation system according to claim 1, which is characterized in that described to described
One double frequency pseudorange observes data and the second double frequency pseudorange without ionospheric combination and carries out difference without ionospheric combination observation data
Operation is established difference observational equation, is specifically included:
Data and the second double frequency pseudorange is observed without ionospheric combination to the first double frequency pseudorange to observe without ionospheric combination
Data carry out calculus of differences, establish difference observational equation:
Wherein, PA,iAnd PB,jRespectively indicate i-th satellite of the first satellite navigation system A and the jth of the second satellite navigation system B
The double frequency pseudorange of satellite is without ionospheric combination observation, ρA,iIndicate i-th satellite and survey station of the first satellite navigation system A
Between geometric distance, ρB,jIndicate the geometric distance between the jth satellite and survey station of the second satellite navigation system B；Institute
State the time difference between the first satellite navigation system A and the second satellite navigation system B；MA,iAnd MB,jRespectively indicate the first satellite
The troposphere mapping coefficient of the jth satellite of i-th satellite and the second satellite navigation system B of navigation system A；With
Respectively indicate the measurement noise of i-th satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system B；
T is tropospheric delay, others be the theory of relativity error, tide error, antenna phase center variation, the troposphere residual sum earth from
Turn the summation of error.
3. the time difference monitoring method between satellite navigation system according to claim 2, which is characterized in that described to described
One secondary parameter data and second secondary parameter data carry out calculus of differences, establish time difference monitoring stochastic model, specific to wrap
It includes:
The elevation angle that every satellite of first satellite navigation system is calculated according to first secondary parameter data obtains
One height angular data；
The elevation angle that every satellite of second satellite navigation system is calculated according to second secondary parameter data obtains
Two height angular datas；
According to the first height angular data and the second height angular data, time difference monitoring stochastic model is established:
Wherein, αAiFor the measurement noise of i-th satellite of the first satellite navigation system A, αBjIt is the of the second satellite navigation system B
The measurement noise of j satellite, EAiFor the elevation angle of i-th satellite of the first satellite navigation system A, EBiIt is led for the second satellite
The elevation angle of the jth satellite of boat system B.
4. the time difference monitoring method between satellite navigation system according to claim 3, which is characterized in that described using minimum
Square law solves the difference observational equation and the time difference monitors stochastic model, obtains the first satellite navigation system and the second satellite is led
Time-difference parameter between boat system, specifically includes:
The difference observational equation is subjected to linearization process, obtains error equation: V=EX-L；
Wherein, V is residual error vector,vAB,AiBjIndicate i-th satellite A and second of the first satellite navigation system
The double frequency pseudorange of the jth satellite of satellite navigation system B is without the difference of ionospheric combination observation；I=1,2 ..., R, j=1,
2 ..., S, R indicate the quantity of the satellite of the first satellite navigation system, and S indicates the quantity v of the satellite of the second satellite navigation systemAB ,AiBj=PA,i-PB,j；E is unknown parameter coefficient matrix,
ΔmAB,AiBjIndicate the convection current of i-th satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system B
The difference of layer mapping system, Δ mAB,AiBj=MA,i-MB,j；Indicate the first satellite
Unit vector of the jth satellite position of navigation system A to the jth satellite position of the second satellite navigation system B；
X is unknown parameter vector,(x, y, z) is the three-dimensional coordinate of survey station, and L is constant term vector,
lAB,AiBjIt indicates relevant to the jth satellite of i-th satellite of the first satellite navigation system A and the second satellite navigation system B
Constant coefficient；
Linear process is carried out to time difference monitoring stochastic model, obtains the corresponding power battle array of the error equation:pAB,AiBjIndicate i-th satellite and the second satellite navigation of the first satellite navigation system A
The double frequency pseudorange of the jth satellite of system B is without the weight of ionosphere observation；
Formula X=[T (E) is utilized using least square method according to the error equation and the error equation corresponding power battle array
PE]-1* [T (E) PL] solves unknown parameter vector X, obtains the three-dimensional coordinate (x, y, z) of survey station, tropospheric delay T and first is defended
The time difference between star navigation system A and the second satellite navigation system B
5. a kind of time difference between satellite navigation system monitors system, which is characterized in that the monitoring system includes:
First data acquisition module, the double frequency pseudorange observation of every satellite for obtaining the first satellite navigation system to be monitored
Value and auxiliary parameter value, obtain the first double frequency pseudorange observation data and the first secondary parameter data；The auxiliary parameter value includes
Satellite orbit, satellite clock correction and earth rotation parameter (ERP)；
Second data acquisition module, the double frequency pseudorange observation of every satellite for obtaining the second satellite navigation system to be monitored
Value and auxiliary parameter value, obtain the second double frequency pseudorange observation data and the second secondary parameter data；
Without ionospheric combination module, for respectively to the first double frequency pseudorange observation data and the second double frequency pseudorange observation
Data obtain the first double frequency pseudorange without ionospheric combination without ionosphere and observe data and the second double frequency pseudorange without ionosphere sight
Measured data；
Difference observational equation establishes module, for observing data and described second without ionospheric combination to the first double frequency pseudorange
Double frequency pseudorange carries out calculus of differences without ionospheric combination observation data, establishes difference observational equation；
Time difference monitoring stochastic model establishes module, for first secondary parameter data and second secondary parameter data
Calculus of differences is carried out, time difference monitoring stochastic model is established；
Parametric solution module is obtained for solving the difference observational equation and time difference monitoring stochastic model using least square method
Time-difference parameter between the first satellite navigation system and the second satellite navigation system.
6. the time difference between satellite navigation system according to claim 5 monitors system, which is characterized in that the difference observation
Establishing equation module, specifically includes:
Difference observational equation setting up submodule, for observing data and described the without ionospheric combination to the first double frequency pseudorange
Two double frequency pseudoranges carry out calculus of differences without ionospheric combination observation data, establish difference observational equation:
Wherein, PA,iAnd PB,jRespectively indicate i-th satellite of the first satellite navigation system A and the jth of the second satellite navigation system B
The double frequency pseudorange of satellite is without ionospheric combination observation, ρA,iIndicate i-th satellite and survey station of the first satellite navigation system A
Between geometric distance, ρB,jIndicate the geometric distance between the jth satellite and survey station of the second satellite navigation system B；Institute
State the time difference between the first satellite navigation system A and the second satellite navigation system B；MA,iAnd MB,jRespectively indicate the first satellite
The troposphere mapping coefficient of the jth satellite of i-th satellite and the second satellite navigation system B of navigation system A；With
Respectively indicate the measurement noise of i-th satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system B；
T is tropospheric delay, others be the theory of relativity error, tide error, antenna phase center variation, the troposphere residual sum earth from
Turn the summation of error.
7. the time difference between satellite navigation system according to claim 6 monitors system, which is characterized in that the time difference monitoring
Stochastic model establishes module, specifically includes:
First elevation angle computational submodule, for calculating first satellite navigation system according to first secondary parameter data
Every satellite elevation angle, obtain the first height angular data；
Second elevation angle computational submodule, for calculating second satellite navigation system according to second secondary parameter data
Every satellite elevation angle, obtain the second height angular data；
The time difference monitors stochastic model setting up submodule, for according to the first height angular data and the second elevation angle number
According to, establish the time difference monitoring stochastic model:
Wherein, αAiFor the measurement noise of i-th satellite of the first satellite navigation system A, αBjIt is the of the second satellite navigation system B
The measurement noise of j satellite, EAiFor the elevation angle of i-th satellite of the first satellite navigation system A, EBiFor the second satellite navigation
The jth elevation of satellite of system B.
8. the time difference between satellite navigation system according to claim 7 monitors system, which is characterized in that the parametric solution
Module specifically includes:
First linear beggar's module obtains error equation: V=EX- for the difference observational equation to be carried out linearization process
L；
Wherein, V is residual error vector,vAB,AiBjIndicate i-th satellite A and second of the first satellite navigation system
The double frequency pseudorange of the jth satellite of satellite navigation system B is without the difference of ionospheric combination observation；I=1,2 ..., R, j=1,
2 ..., S, R indicate the quantity of the satellite of the first satellite navigation system, and S indicates the quantity v of the satellite of the second satellite navigation systemAB ,AiBj=PA,i-PB,j；E is unknown parameter coefficient matrix,
ΔmAB,AiBjIndicate the convection current of i-th satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system B
The difference of layer mapping system, Δ mAB,AiBj=MA,i-MB,j；Indicate the first satellite
Unit vector of the jth satellite position of navigation system A to the jth satellite position of the second satellite navigation system B；
X is unknown parameter vector,(x, y, z) is the three-dimensional coordinate of survey station, and L is constant term vector,
lAB,AiBjIt indicates relevant to the jth satellite of i-th satellite of the first satellite navigation system A and the second satellite navigation system B
Constant coefficient；
Second linearisation submodule, for obtaining Quan Zhen to time difference monitoring stochastic model progress linear process:pAB,AiBjIndicate i-th satellite and the second satellite navigation of the first satellite navigation system A
The double frequency pseudorange of the jth satellite of system B is without the weight of ionospheric combination observation；
Parametric solution submodule, for utilizing formula using least square method according to error equation power battle array corresponding with its
X=[T (E) PE]-1* [T (E) PL] solves unknown parameter vector X, obtains the three-dimensional coordinate (x, y, z) of monitoring survey station, troposphere is prolonged
The time difference between slow T and the first satellite navigation system A and the second satellite navigation system B
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