CN111766615A - Inter-station real-time transfer method based on IGS RTS data - Google Patents

Inter-station real-time transfer method based on IGS RTS data Download PDF

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CN111766615A
CN111766615A CN202010545100.8A CN202010545100A CN111766615A CN 111766615 A CN111766615 A CN 111766615A CN 202010545100 A CN202010545100 A CN 202010545100A CN 111766615 A CN111766615 A CN 111766615A
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time
satellite
real
clock error
station
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李国俊
史丰丰
李兆南
付桂涛
闫芳君
王丰
孙文龙
林勇昕
邹加华
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People's Liberation Army 61081 Unit
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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
    • 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
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/08—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing integrity information, e.g. health of satellites or quality of ephemeris data
    • 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
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
    • G01S19/12—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are telecommunication base stations
    • 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
    • G01S19/258—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 the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view

Abstract

The invention provides a method for transmitting real-time between satellite stations based on IGS RTS data of a global satellite navigation system service organization, which is used for solving the problems that the time transmission cannot be real-time and the precision is low. The real-time transmission method based on IGS RTS data comprises the steps of firstly, acquiring GPS broadcast ephemeris and orbit clock error correction data of the IGS RTS, and calculating satellite coordinates and clock error; and then receiving GPS observation data, adopting GPS PPP to carry out single-station time transmission, resolving the clock error of the receiver, and calculating the time difference between two stations. The method fully utilizes the advantages of strong real-time performance and high precision of IGS RTS real-time precise ephemeris clock error data to realize sub-nanosecond real-time transmission; RTS data belongs to real-time processing, time reference is discontinuous, change of the time reference is eliminated through mutual difference between stations, A-type uncertainty of a time transmission result is superior to 0.3ns, and frequency transmission stability reaches 2E-15/day.

Description

Inter-station real-time transfer method based on IGS RTS data
Technical Field
The invention belongs to the field of satellite navigation and time transfer, and particularly relates to an inter-station real-time transfer method based on IGS RTS data.
Background
With the continuous development of navigation technology, people have higher and higher requirements on the precision of time transmission. Currently, Time transfer methods for Time-keeping laboratories participating in international atomic Time weighting calculation mainly include GPS All-in-view Time transfer (AV), GLONASS AV (GLONASS All-in-view), GPS precision point location technology (PPP), and Satellite Two-way Time transfer (twft). Among them, GPS PPP has been adopted by many time-keeping laboratories in the world as an important time transfer method.
The GPS PPP has unique advantages in the aspect of long-distance high-precision time frequency transmission, the frequency transmission stability of hundreds of kilometers and even thousands of kilometers can reach E-15 to E-16/day, and the uncertainty of time transmission A class is better than 0.3 ns. However, the GPS PPP time transfer requires ephemeris and satellite clock error data. Currently, the International authority for rights management (BIPM) uses the GPS PPP for time transfer, which uses the International GNSS Service (IGS) to provide fast ephemeris and clock error data (IGR), and the time delay of the IGR is about 17-41 hours. In addition, the IGS provides Ultra-fast precise ephemeris and clock error data (IGU), and the precision of the satellite clock error of the observation part is about 0.15ns, but the satellite clock error of the forecast part is only 3ns, which cannot meet the requirement of sub-nanosecond real-time transmission.
In addition, in the prior art, the method for transmitting the GPS PPP time generally focuses on post-event high-precision time transmission, and a time-keeping laboratory utilizes time transmission results to trace the source and drive local time-frequency signals, but cannot monitor the time-frequency signals in real time, and particularly, the nanosecond or even sub-nanosecond real-time transmission has no relatively mature achievement and application experience.
Disclosure of Invention
The embodiment of the invention aims to improve the precision of time transfer between stations of a satellite navigation system and realize real-time transfer. In order to solve the technical problem, an embodiment of the present invention provides an inter-station real-time transfer method based on IGS RTS data, which uses real-time precise ephemeris clock error data of IGS RTS to achieve inter-station real-time transfer through GPSPPP, and at the same time, improves time transfer accuracy.
In order to achieve the above object, the present invention adopts the following technical solutions.
An inter-station real-time transfer method based on global satellite navigation system international real-time service (IGS) RTS data, which is characterized by comprising the following steps:
step S1, the first test station and the second test station respectively acquire GPS broadcast ephemeris and GPS orbital clock error correction data of the IGS RTS;
step S2, the first measuring station and the second measuring station respectively calculate the satellite coordinates and the satellite clock error according to the GPS broadcast ephemeris and the GPS orbit clock error correction data;
step S3, the two stations receive GPS observation data respectively, and adopt GPS PPP to transmit the time of single station according to the satellite coordinates and the satellite clock error, and solve the receiver clock error of the first station and the receiver clock error of the second station;
step S4, calculating the time difference between two stations according to the receiver clock error of the first station and the receiver clock error of the second station, thereby completing the sub-nanosecond real-time transmission;
and step S5, eliminating the change of the time reference through the time difference between the stations, and completing the real-time transmission in the sub-nanosecond order.
In the foregoing solution, the step S1 of acquiring the GPS broadcast ephemeris and the GPS orbital clock error correction data of the IGS RTS further includes the following steps:
step S11, applying for an NTRIP client account and a password from an IGS data analysis center of Wuhan university;
in step S12, the NTIRP client receives the data stream text 1019 containing the GPS broadcast ephemeris and the data stream 1060 containing the GPS orbital clock correction in the RTCM.
In the foregoing solution, the step S2 of calculating the satellite coordinates specifically includes:
when t is0The satellite position correction vector of the SSR information at the moment is [ O ]rOaOc]TThe satellite velocity correction vector is
Figure BDA0002538526020000021
And then, the satellite position correction vector under the satellite-fixed coordinate system at the time t is as follows:
Figure BDA0002538526020000022
calculating satellite position vector r and satellite velocity vector according to broadcast ephemeris
Figure BDA0002538526020000023
The rotation matrix from the satellite-fixed coordinate system to the ground-fixed coordinate system is as follows:
Figure BDA0002538526020000024
Figure BDA0002538526020000031
the satellite positions under the earth-fixed coordinate system at the moment t are as follows:
Figure BDA0002538526020000032
in the foregoing solution, the step S2 of calculating the satellite clock offset specifically includes:
when t is03 clock error polynomial coefficients of time SSR information are C0、C1And C2The distance correction number of the satellite clock difference at the time t is as follows:
C＝C0+C1(t-t0)+C2(t-t2)2(4)
the precision satellite clock error at the time t is as follows:
Figure BDA0002538526020000033
wherein the content of the first and second substances,
Figure BDA0002538526020000034
for the broadcast ephemeris clock error corrected for relativistic effects at time t, clightIs the speed of light in vacuum.
In the above scheme, in step S3, the GPS PPP is used to transmit the time of the single station and resolve the clock offset dt of the receiverrThe specific process is as follows:
using a no ionospheric combination model:
Figure BDA0002538526020000035
Figure BDA0002538526020000036
wherein, P3、Φ3The pseudo range and carrier phase non-ionized layer combined observed values are obtained; rho is the geometric distance from the receiver to the satellite; c is the speed of light; dtrAnd dtsRespectively a receiver clock error and a satellite clock error; t is tropospheric delay;
Figure BDA0002538526020000037
respectively representing the combined code delays at the receiver and at the satellite,
Figure BDA0002538526020000038
indicating the combined carrier phase at the receiver side and at the satellite side, respectivelyDelaying; lambda [ alpha ]3A narrow lane wavelength; n is a radical of3Is narrow lane ambiguity;P3and
Figure BDA0002538526020000039
respectively representing the influence of unmodeled errors;
simplifying equations (17) and (18) yields:
Figure BDA00025385260200000310
Figure BDA00025385260200000311
in the formula (I), the compound is shown in the specification,
Figure BDA00025385260200000312
and resolving the receiver clock error by using a Kalman filtering algorithm according to an equation (19) and an equation (20).
In the foregoing solution, the performing real-time transmission in step S3 further includes:
any receiver clock difference is represented as:
dti＝ti-RefT (10)
in the formula (dt)iRepresents the receiver clock error, i.e., the single station time transfer result; RefT denotes a reference time base;
the real-time transmission result between stations is as follows:
t1,2＝dt1-dt2＝(t1-RefT+ΔT)-(t2-RefT+ΔT)＝(t1-RefT)-(t2-RefT) (11)。
in the above scheme, the GPS orbital clock error correction is updated every 5 s.
The invention has the following beneficial effects:
the invention discloses an inter-station real-time transfer method for IGS RTS data based on a global satellite navigation system service organization, which is used for solving the problems that time transfer cannot be real-time and is low in precision. Firstly, acquiring GPS broadcast ephemeris and GPS orbit clock error correction data of the IGS RTS, and calculating a satellite coordinate and a satellite clock error; and then receiving GPS observation data, adopting GPS PPP to carry out single-station time transmission, resolving the clock error of the receiver, and calculating the time difference between two stations. The method fully utilizes the advantages of strong real-time performance and high precision of IGS RTS real-time precise ephemeris clock error data, and the update rate of ephemeris clock error correction information data is 1 time/5 s, thereby achieving the precision requirement of sub-nanosecond time transfer and simultaneously realizing real-time transfer; IGS RTS data belongs to real-time processing, time reference is discontinuous, change of the time reference is eliminated through inter-station mutual difference, time transmission results among stations are not affected, A-type uncertainty of the time transmission results is superior to 0.3ns, and stability of frequency transmission reaches 2E-15/day.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic diagram illustrating a principle of an inter-station real-time transfer method based on IGS RTS data according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a method for transmitting real-time between stations based on IGS RTS data according to an embodiment of the present invention.
Detailed Description
The technical problems, aspects and advantages of the invention will be explained in detail below with reference to exemplary embodiments. The following exemplary embodiments are merely illustrative of the present invention and are not to be construed as limiting the invention.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The method is based on the IGS RTS data of the global satellite navigation system, realizes the sub-nanosecond real-time transfer between the ground station survey stations, and effectively improves the precision of the time transfer. An International Global Navigation Satellite System (GNSS) Service organization (IGS) includes a data analysis center, a data fusion center, and a product distribution center. The data analysis center comprises BKG, CNES, DLR, GFZ, ESA/ESOC, GMV, Geo + +, NRCan, TUW and WHAN and is responsible for generating real-time precise ephemeris and clock error data by utilizing observation data of the GNSS tracking station, wherein the NRCan, the ESA/ESOC and the BKG undertake the work in the aspects of supervision, coordination, operation management and the like; the data fusion center comprises ESA/ESOC, BKG and NRCan and is responsible for carrying out unified reference, gross error elimination and weighted average on the resolving results of the data analysis centers to generate official release results; the product release center comprises two primary and a plurality of secondary product release centers, and is responsible for broadcasting Real-time Service (RTS) data to users through a network in an SSR (State Space registration) mode according to an NTRIP Protocol (network terminal distribution of RTCM via Internet Protocol), and the users submit registration applications to the regional data release center and can receive SSR data streams in Real time after authentication.
IGS RTS is used in products that provide data, including IGS01/IGC01, IGS02, and IGS 03. The IGS01/IGC01 is GPS single-epoch combined resolving data, and results of epochs are independent of each other. The IGS02 uses the results of the analysis center for multiple epochs to solve using a Kalman filtering algorithm. The data processing strategy of IGS03 is substantially identical to IGS02, with the main difference that IGS02 contains only GPS data, while IGS03 contains GPS + GLONASS data. The user can not only obtain the precise ephemeris and clock error data in real time, but also obtain the GPS and GLONASS broadcast ephemeris, observation data of partial GNSS tracking stations and the like.
The embodiment of the invention uses IGS WFor example, the UHAN data analysis center obtains IGS RTS data through the IGS WUHAN data analysis center, wherein the obtained data comprises data provided by IGS01/IGC01, IGS02 and IGS 03. Fig. 1 is a schematic diagram illustrating a principle of an inter-station real-time transfer method based on IGS RTS data according to this embodiment. As shown in fig. 1, in the sub-nanosecond real-time transfer method of this embodiment, an NTRIP client account and a password are first applied to an IGS data analysis center of wuhan university, and an NTIRP client is used to receive RTCM data stream messages 1019(GPS broadcast ephemeris) and 1060(GPS orbital clock correction). Calculating satellite coordinates and satellite clock error according to 1019 and 1060 through real-time PPP software based on RTKLIB secondary development; simultaneously receiving GPS observation data, adopting GPS PPP technique to make single-station time transmission and calculating receiver clock error dt of measuring station 11. The measuring station 2 can calculate the receiver clock difference dt by adopting the same method2So that the time difference between station 1 and station 2 is dt1-dt2。
The embodiments of the present invention will be described in further detail with reference to the accompanying drawings.
An embodiment of the present invention provides an inter-station real-time transfer method based on IGS RTS data, and fig. 2 is a flowchart illustrating the inter-station real-time transfer method based on IGS RTS data according to this embodiment. As shown in fig. 2, the method comprises the steps of:
step S1, the first test station and the second test station respectively acquire GPS broadcast ephemeris and GPS orbital clock error correction data of the IGS RTS;
step S2, the first measuring station and the second measuring station respectively calculate the satellite coordinates and the satellite clock error according to the GPS broadcast ephemeris and the GPS orbit clock error correction data;
step S3, the two stations receive GPS observation data respectively, and adopt GPS PPP to transmit the time of single station according to the satellite coordinates and the satellite clock error, and solve the receiver clock error dt of the first station1And the receiver clock difference dt of the second station2；
Step S4, according to the receiver clock difference dt of the first station1And the receiver clock difference dt of the second station2Calculating the time difference between two stations as dt1-dt2；
And step S5, eliminating the change of the time reference through the time difference between the stations, and completing the real-time transmission in the sub-nanosecond order.
In step S1, the method for acquiring the GPS broadcast ephemeris and the GPS orbital clock correction data of the IGS RTS further includes the following steps:
step S11, applying for NTRIP client account and password from IGS data analysis center of Wuhan university, and setting NTRIP server address http:// gnsslab. NTRIP. cn;
in step S12, RTCM data stream messages 1019(GPS broadcast ephemeris) and 1060(GPS orbital clock correction) are received by the NTIRP client.
In the step S2, in calculating the satellite coordinates and the satellite clock offset according to the GPS broadcast ephemeris and the GPS orbital clock offset correction data, the IGS RTS data is a correction number based on the broadcast ephemeris, and the GPS orbital clock offset correction data is corrected by the broadcast ephemeris to obtain the precise orbit and clock offset. The satellite orbit correction number is the correction value of radial direction, tangential direction and normal direction under the satellite-fixed coordinate system, and t is assumed0The satellite position correction vector of the SSR information at the moment is [ O ]rOaOc]TThe satellite velocity correction vector is
Figure BDA0002538526020000071
The satellite position correction vector under the satellite-fixed coordinate system at the time t is as follows:
Figure BDA0002538526020000072
since the broadcast ephemeris uses the earth-fixed coordinate system, the satellite position correction vector needs to be reduced to the earth-fixed coordinate system. Calculating a satellite position vector r and a satellite velocity vector according to the broadcast ephemeris
Figure BDA0002538526020000073
The rotation matrix from the satellite-fixed coordinate system to the earth-fixed coordinate system is:
Figure BDA0002538526020000074
therefore, the satellite positions in the earth-fixed coordinate system at time t are:
Figure BDA0002538526020000075
there are two types of satellite position correction reference points for RTS data: the satellite Center of Mass (CoM) and the Antenna Phase Center (APC). If the correction value is relative to a satellite APC, such as IGS01, IGS02, the corrected ephemeris may be used directly for calculation. If the correction value is relative to the satellite CoM, e.g., IGC01, then the satellite antenna phase center correction is increased.
If t03 clock error polynomial coefficients of time SSR information are C0、C1And C2And the distance correction number of the satellite clock error at the time t is as follows:
C＝C0+C1(t-t0)+C2(t-t2)2(15)
thus, the precise satellite clock offset at time t is:
Figure BDA0002538526020000076
wherein the content of the first and second substances,
Figure BDA0002538526020000077
for the broadcast ephemeris clock error corrected for relativistic effects at time t, clightIs the speed of light in vacuum.
The satellite coordinates and the satellite clock error are calculated in the step, and the calculation can be realized through real-time PPP software based on RTKLIB secondary development.
In step S3, the GPS PPP is used to transmit the time of the single station and resolve the clock difference dt of the receiverr(including dt)1And dt2) The specific process is as follows:
using a no ionospheric combination model:
Figure BDA0002538526020000088
Figure BDA0002538526020000081
wherein, P3、Φ3The pseudo range and carrier phase non-ionized layer combined observed values are obtained; rho is the geometric distance from the receiver to the satellite; c is the speed of light; dtrAnd dtsRespectively a receiver clock error and a satellite clock error; t is tropospheric delay;
Figure BDA0002538526020000082
respectively representing the combined code delays at the receiver and at the satellite,
Figure BDA0002538526020000083
respectively representing combined carrier phase delays at a receiver end and a satellite end; lambda [ alpha ]3A narrow lane wavelength; n is a radical of3Is narrow lane ambiguity;P3and
Figure BDA0002538526020000084
respectively, the effect of unmodeled errors.
Some parameters in equations (17) and (18) can be absorbed by other parameters, and the simplified model is as follows:
Figure BDA0002538526020000085
Figure BDA0002538526020000086
in the formula (I), the compound is shown in the specification,
Figure BDA0002538526020000087
and (5) solving the receiver clock error by adopting a Kalman filtering algorithm according to an equation (19) and an equation (20).
The receiver clock difference calculated by the above process can be expressed as:
dti＝ti-RefT (21)
in the formula (dt)iRepresents the receiver clock error, i.e., the single station time transfer result; RefT denotes a reference time base. If RefT changes by Δ T, the single station time transfer also changes by Δ T. While the time transfer results between stations are unchanged:
t1,2＝dt1-dt2＝(t1-RefT+ΔT)-(t2-RefT+ΔT)＝(t1-RefT)-(t2-RefT)
(22)
therefore, the change of the time reference can be eliminated through the mutual difference between the stations, and further the real-time transmission of subnanosecond level is realized.
RTS data has the following advantages: firstly, the real-time performance is higher, and the time delay of RTS data is about 30 s; secondly, the ephemeris clock error data sampling rate is high, e.g. the GPS combined orbit and clock error correction (RTCM: 1059) of IGC01/IGS01 is updated every 5 s. However, since different time references are selected when the RTS data is generated by each data analysis center, the combined RTS data time reference of the data fusion center may be discontinuous when data generation fails, coarse data occurs, data transmission is interrupted, and the like. At this point, receiver clock jump may occur during single station time transfer using GPS PPP. The time transfer between stations can well eliminate the influence caused by the change of the time reference.
According to the technical scheme, the method for transmitting the real-time between the stations of the stations based on the IGS RTS data is based on the IGS RTS ephemeris clock error data, the advantages of strong real-time performance and high precision of the IGS RTS real-time precise ephemeris clock error data are fully utilized, the ephemeris clock error correction information data updating rate is 1 time/5 s, the precision requirement of sub-nanosecond time transmission is met, and meanwhile real-time transmission is achieved; RTS data belongs to real-time processing, time reference is discontinuous, change of the time reference is eliminated through inter-station mutual difference, time transmission results among stations are not affected, A-type uncertainty of the time transmission results is superior to 0.3ns, and frequency transmission stability reaches 2E-15/day.
While the foregoing is directed to the preferred embodiment of the present invention, it is understood that the invention is not limited to the exemplary embodiments disclosed, but is made merely for the purpose of providing those skilled in the relevant art with a comprehensive understanding of the specific details of the invention. It will be apparent to those skilled in the art that various modifications and adaptations of the present invention can be made without departing from the principles of the invention and the scope of the invention is to be determined by the claims.

Claims (7)

1. An inter-station real-time transfer method based on global satellite navigation system international real-time service (IGS) RTS data, which is characterized by comprising the following steps:
step S1, the first test station and the second test station respectively acquire GPS broadcast ephemeris and GPS orbital clock error correction data of the IGS RTS;
step S2, the first measuring station and the second measuring station respectively calculate the satellite coordinates and the satellite clock error according to the GPS broadcast ephemeris and the GPS orbit clock error correction data;
step S3, the two stations respectively receive GPS observation data, and simultaneously adopt GPSPPP to perform single station time transmission according to the satellite coordinates and the satellite clock error, and solve the receiver clock error of the first station and the receiver clock error of the second station;
step S4, calculating the time difference between two stations according to the receiver clock error of the first station and the receiver clock error of the second station, thereby completing the sub-nanosecond real-time transmission;
and step S5, eliminating the change of the time reference through the time difference between the stations, and completing the real-time transmission in the sub-nanosecond order.
2. The method for transferring real-time between stations according to claim 1, wherein said step S1 obtaining the GPS broadcast ephemeris and GPS orbital clock error correction data of IGSRTS further comprises the following steps:
step S11, applying for an NTRIP client account and a password from an IGS data analysis center of Wuhan university;
in step S12, the NTIRP client receives the data stream text 1019 containing the GPS broadcast ephemeris and the data stream 1060 containing the GPS orbital clock correction in the RTCM.
3. The inter-station real-time transfer method according to claim 1, wherein the step S2 is to calculate satellite coordinates, specifically:
when t is0The satellite position correction vector of the SSR information at the moment is [ O ]rOaOc]TThe satellite velocity correction vector is
Figure FDA0002538526010000011
And then, the satellite position correction vector under the satellite-fixed coordinate system at the time t is as follows:
Figure FDA0002538526010000012
calculating satellite position vector r and satellite velocity vector according to broadcast ephemeris
Figure FDA0002538526010000013
The rotation matrix from the satellite-fixed coordinate system to the ground-fixed coordinate system is as follows:
Figure FDA0002538526010000014
the satellite positions under the earth-fixed coordinate system at the moment t are as follows:
Figure FDA0002538526010000015
4. the inter-station real-time transfer method according to claim 3, wherein the step S2 is to calculate a satellite clock error, specifically:
when t is03 clock error polynomial coefficients of time SSR information are C0、C1And C2The distance correction number of the satellite clock difference at the time t is as follows:
C＝C0+C1(t-t0)+C2(t-t2)2(26)
the precision satellite clock error at the time t is as follows:
Figure FDA0002538526010000021
wherein the content of the first and second substances,
Figure FDA0002538526010000022
for the broadcast ephemeris clock error corrected for relativistic effects at time t, clightIs the speed of light in vacuum.
5. The method for transferring real-time between stations as claimed in claim 1, wherein in step S3, the GPSPPP is used to transfer the time of a single station and calculate the receiver clock difference dtrThe specific process is as follows:
using a no ionospheric combination model:
Figure FDA0002538526010000023
Figure FDA0002538526010000024
wherein, P3、Φ3The pseudo range and carrier phase non-ionized layer combined observed values are obtained; rho is the geometric distance from the receiver to the satellite; c is the speed of light; dtrAnd dtsRespectively a receiver clock error and a satellite clock error; t is tropospheric delay;
Figure FDA0002538526010000025
respectively representing the combined code delays at the receiver and at the satellite,
Figure FDA0002538526010000026
respectively representing combined carrier phase delays at a receiver end and a satellite end; lambda [ alpha ]3A narrow lane wavelength; n is a radical of3Is narrow lane ambiguity;P3and
Figure FDA0002538526010000027
respectively representing the influence of unmodeled errors;
simplifying equations (17) and (18) yields:
Figure FDA0002538526010000028
Figure FDA0002538526010000029
in the formula (I), the compound is shown in the specification,
Figure FDA00025385260100000210
and resolving the receiver clock error by using a Kalman filtering algorithm according to an equation (19) and an equation (20).
6. The inter-station real-time transfer method according to claim 5, wherein the step S3 of performing real-time transfer further comprises:
any receiver clock difference is represented as:
dti＝ti-RefT (32)
in the formula (10), dtiRepresents the receiver clock error, i.e., the single station time transfer result; RefT denotes a reference time base;
the real-time transmission result between stations is as follows:
t1，2＝dt1-dt2＝(t1-RefT+ΔT)-(t2-RefT+ΔT)＝(t1-RefT)-(t2-RefT) (33)。
7. the inter-station real-time transfer method according to any one of claims 1 to 6, wherein the GPS orbital clock error correction is updated every 5 s.
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