CN111766616A - Beidou second-order time transfer satellite-side multipath error correction method - Google Patents
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- 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
- G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
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- 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
- G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
- G01S19/073—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections involving a network of fixed stations
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- 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
- G01S19/11—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 pseudolites or satellite radio beacon positioning system signal repeaters
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- 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
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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
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
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Abstract
The invention provides a method for correcting multipath errors of a Beidou second time transmission satellite terminal, which is used for solving the problem of multipath errors of the Beidou second time transmission satellite terminal. The Beidou second time transmission satellite-side multipath error correction method selects a MGEX observation station as a data source, after grouping, the MP sequence is used for segmenting and dividing each grouped data to generate a pseudo-range correction information table, and therefore during BDS CV and/or BDS PPP time transmission, pseudo-range correction node information is searched according to satellite types and signal frequency points and is fitted to correct a pseudo-range observation value. According to the invention, satellite-end multipath error correction is introduced in Beidou time transmission, the pseudo range observation value of the Beidou second satellite is corrected based on the observation data of the global MGEX observation station, and the pseudo range is directly corrected systematically at the user terminal, so that the influence of satellite-end multipath on time transmission is weakened, the problem of satellite-end multipath error transmission of the Beidou second time is solved, and the precision of the Beidou second time transmission is improved.
Description
Technical Field
The invention belongs to the field of navigation, and particularly relates to a Beidou second time transfer satellite-side multipath error correction method.
Background
The chinese BeiDou Navigation Satellite System (BDS) is a global Satellite Navigation System developed by the self in china, and formally provides Navigation, positioning and time service to asia-pacific region from 12 months in 2012, and is one of the four global Satellite Navigation systems. The BDS consists of a space section, a ground section and a user section, the Beidou No. two satellite which runs in orbit comprises 5 GEO (geostationary earth orbit) satellites (C01-C05), 7 IGSO (unsaturated geosynchronous satellite orbit) satellites (C06-C10, C13 and C16) and 3 MEO (medium earth orbit) satellites (C11, C12 and C14), and the Beidou No. three system is expected to be built in 6 months in 2020.
The time-keeping laboratories participating in the international time alignment mainly perform the remote time alignment through the united states global navigation satellite System (GPS) and the russian global navigation satellite System (GLONASS). The frequency stability of the GPS precision Point Positioning technology (PPP) in a day with a distance of hundreds or even thousands of kilometers can reach an order of E-15 to E-16, and the time transfer method thereof includes GPS Common-View time transfer (GPS Common-View, GPS cv), GPS All-View time transfer (GPS All-View, GPS AV), and GPS Carrier Phase time transfer (GPS Carrier-Phase, GPS CP). There is a significant reliability risk in relying on a single system for time transfer. In the long term, the international time comparison method gradually develops from a single system to a multi-system fusion time comparison direction. In 2015, a CGGTTS V2E co-view standard was formally released, and a co-view method of GPS, GLONASS, european union global navigation satellite system Galileo, BDS, and QZSS was clearly defined in the standard. Preliminary tests prove that the BDS CV time comparison standard deviation (STD) is about 2-3 ns, and the number of common vision satellites is about 2-3. Due to the limited service range of the Beidou II, the time transfer of the BDS PPP is limited to the Asia-Pacific region, and the STD of the BDS PPP time comparison is better than 0.5 ns.
The big dipper second satellite has satellite-end multipath error, and can generate system error of several decimeters to 1 meter for pseudo range. The pseudo-range deviation of the Beidou second satellite is closely related to the altitude angle and the signal frequency of the satellite, and the deviation is unrelated to the antenna type and the observation time period of the receiver. Therefore, the pseudorange bias is preliminarily concluded to be derived from Beidou satellite multipath. In the prior art, the research and application of the satellite-end multipath influence of the Beidou second satellite mainly focuses on satellite positioning, and the research of the influence of systematic errors on time transfer is lacked.
Disclosure of Invention
The embodiment of the invention provides a method for correcting the time transfer satellite-end multipath errors of a Beidou second satellite, which aims to solve the problem of the time transfer satellite-end multipath errors of the Beidou second satellite.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
a Beidou second time transfer satellite-end multipath error correction method comprises the following steps:
step S1, selecting data of a multi-system observation network MGEX observation station of the International Global navigation satellite service organization as a data source, and grouping the data source according to a satellite number and a signal frequency point to obtain grouped data;
step S2, segmenting each grouped data by utilizing a pseudo-range multi-path combined MP sequence, constructing a segmented linear model, and generating pseudo-range correction information tables of different types of satellites and different frequency points;
and step S3, searching pseudo-range correction node information in the pseudo-range correction information table according to the satellite type and the signal frequency point during time transmission, fitting, calculating a pseudo-range correction value, and correcting the pseudo-range observation value.
In the foregoing solution, in step S2, each packet of data is segmented, and segmentation is further performed according to the change of altitude, where an objective function of the segmented linear model is represented as:
s.t.fj(ej)-fj+1(ej)＝0 (1)
in formula (1), j is 1,2, …, m-1, m represents the total number of segmentation nodes; i is 1,2 …, n represents the length of the MP sequence of the corresponding segment; f represents a piecewise function linearly related to the altitude; MP represents pseudorange multipath combination observations.
In the above scheme, the MP pseudorange and multipath combination observed value is obtained by combining a single-frequency pseudorange and a dual-frequency carrier phase, and is represented as:
in formula (2), i and j (i, j ≠ 1,2,3, i ≠ j) represent different frequencies; MP represents pseudo-range multi-path combination observed value; p and L represent pseudorange and carrier phase observations, respectively; f represents a carrier frequency; m represents a carrier multipath error; b comprises phase ambiguity and hardware delay deviation; representing the observed noise.
In the foregoing solution, the step S2 specifically includes the following steps:
step S21, cycle slip detection is carried out on the carrier phase observed value of each grouped data, and arc segment division is carried out on each grouped data according to whether cycle slip occurs or not;
step S22, calculating the average value of MP combination observation values of each arc segment of each grouped data, and subtracting the average value from all MP observation values;
and step S23, dividing MP combined observed values in the range of 5-85 degrees at preset intervals, and performing piecewise linear fitting to generate pseudo-range correction information tables of different types of satellites and different frequency points.
In the foregoing solution, in step S23, the predetermined interval is a 5 ° elevation angle, 17 parameters to be estimated are obtained by dividing MP combined observed values in a range of 5 ° to 85 °, and for any observed value [ e, MP ], the observation equation is expressed as:
in the formula (3), x represents the value of the parameter MP to be estimated corresponding to the node of the segment, and j represents the segment corresponding to the elevation angle e.
In the above scheme, the time transfer is the BDS CV common view of the Beidou satellite and/or the BDS PPP time transfer of the precise single-point positioning of the Beidou satellite.
In the foregoing solution, in step S3, the correcting the pseudorange observation value during time transfer specifically includes the following steps:
step S31, the Beidou broadcast ephemeris takes the frequency point B3 as reference, and the broadcast ephemeris group delay GD is corrected:
in the formula (4), f1And f2B1 and B2, respectivelyGD1And TGD2Respectively representing the group delay of B1 and B2 frequency points;
at step S32, the satellite co-view equation is expressed as:
in the formula (5), the reaction mixture is,
representing a dual-frequency ionosphere-free combination code,
which represents the coordinates of the satellite or satellites,
representing the antenna phase center coordinate calculated by using the dual-frequency ionosphere-free combined observation value, S representing the earth rotation effect, △ trelRepresenting relativistic effects △ ttropRepresenting tropospheric delay; GD is the broadcast ephemeris group delay.
In the above scheme, the pseudorange observation value is corrected and directly performed at the user side.
The invention has the following beneficial effects:
according to the method for correcting the satellite-end multipath error in the Beidou time transmission, the satellite-end multipath error correction is introduced in the Beidou time transmission, based on the observation data of the global MGEX observation station, a piecewise linear correction model is constructed by using the MP combined observation value and the altitude angle, a pseudo-range correction information table is obtained, the pseudo-range observation value of the Beidou second satellite is corrected, the pseudo-range is corrected systematically at a user terminal directly according to the altitude angle, the influence of the satellite-end multipath on the time transmission is weakened, the problem of the satellite-end multipath error in the Beidou second time transmission is solved, and the precision of the Beidou second time transmission is improved.
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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 flow chart of a method for correcting errors of a Beidou second time transmission satellite terminal in the embodiment of the 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 embodiment of the invention provides a method for correcting multipath errors of a Beidou second time transfer satellite terminal. The Beidou second satellite comprises 5 GEO (geostationary earth orbit) satellites (C01-C05), 7 IGSO (inclinedogenic geosynchronous satellite) satellites (C06-C10, C13 and C16) and 3 MEO (medium earth orbit) satellites (C11, C12 and C14). The Beidou second time transmission satellite-end multipath error correction method is realized by constructing a Beidou second time transmission satellite-end multipath error correction model.
Fig. 1 is a schematic flow chart of the Beidou second time transfer satellite-side multipath error correction method. As shown in fig. 1, the method for correcting the satellite-side multipath error in the second beidou time transfer is described by taking the satellite-side multipath error correction of the IGSO satellite and the MEO satellite in the second beidou as an example, and is also applicable to other satellites in the second beidou. The satellite-end multipath error correction method comprises the following steps:
step S1, selecting Multi-System observation network (meg) observation station data of a Global Navigation Satellite System (GNSS) Service organization (International GNSS Service, IGS) as a data source, and grouping the data source according to a Satellite number and a signal frequency point to obtain grouped data.
In this embodiment, because IGSO satellites mainly cover asia-pacific regions, observation angles of other regions are low, pseudo-range multi-path combination (MP) errors are large, which easily "pollutes" the overall observation value and reduces the model estimation accuracy. Therefore, when modeling the IGSO pseudo-range bias, the asia-pacific observation station should be selected to ensure a complete observation arc. For MEO satellites, monitoring stations distributed over a wide area should be selected as much as possible to ensure adequate observation over all ranges of elevation angles.
And step S2, segmenting each grouped data by using the MP sequence, constructing a segmented linear model, and generating pseudo-range correction information tables of different types of satellites and different frequency points.
Preferably, in this step, segmentation is performed according to the change of the altitude angle, and the objective function of the linear model after segmentation is represented as:
s.t.fj(ej)-fj+1(ej)＝0 (1)
in formula (1), j is 1,2, …, m-1, m represents the total number of segmentation nodes; i is 1,2 …, n represents the length of the MP sequence of the corresponding segment; f represents a piecewise function linearly related to the altitude; MP represents the multipath combination observation.
When the Beidou second satellite is used for positioning, the measured distance contains the clock error of a user receiver and an atomic clock of the satellite and atmospheric refraction delay, but is not the true distance, and the true distance is called pseudo distance. In this embodiment, a pseudo-range multi-path combination (MP) is obtained by combining a single-frequency pseudo-range and a dual-frequency carrier phase, and is represented as:
in formula (2), i and j (i, j ≠ 1,2,3, i ≠ j) represent different frequencies; MP represents pseudo-range multi-path combination observed value; p and L represent pseudorange and carrier phase observations, respectively; f represents a carrier frequency; m represents a carrier multipath error; b comprises phase ambiguity and hardware delay deviation; representing the observed noise. The MP combined observation eliminates geometric distance, tropospheric delay, ionospheric delay, clock error and the like, and remains carrier phase ambiguity, hardware delay, multipath and observation noise. The hardware delay is kept unchanged in a short time, and the carrier multipath error is much smaller than the pseudo-range multipath error. So as long as no cycle slip occurs in the carrier phase, the MP combination mainly reflects the effects of pseudorange multipath effects. During actual calculation, cycle slip detection is firstly carried out on original observation data, then the MP mean value of each complete arc segment is calculated, and finally the MP mean value of the corresponding arc segment is subtracted from all MP values, so that the multipath error is obtained.
Further, step S2 specifically includes the following steps:
step S21, cycle slip detection is carried out on the carrier phase observed value of each grouped data, and arc segment division is carried out on each grouped data according to whether cycle slip occurs or not;
step S22, calculating the average value of MP combination observation values of each arc segment of each grouped data, and subtracting the average value from all MP observation values;
and step S23, dividing MP combined observed values in the range of 5-85 degrees at preset intervals, and performing piecewise linear fitting to generate pseudo-range correction information tables of different types of satellites and different frequency points.
Since the MP error is large when the altitude angle is low, which may affect the model estimation accuracy, in this embodiment, MP observation values of more than 5 ° are selected, and preferably, 5 ° are used as intervals. Furthermore, considering that only a few stations have MP observations close to 90 °, to prevent the low observations from making the linear parameter estimation of the segment inaccurate, the elevation angle of the MP sequence is less than 85 °. Preferably, the linear fitting is performed by using a whole least squares method.
In this step, when the elevation angle is 5 ° as an interval, the number of parameters to be estimated is 17, and for any observed value [ e, MP ], the observation equation is expressed as:
in the formula (3), x represents the value of the parameter MP to be estimated corresponding to the node of the segment, and j represents the segment corresponding to the elevation angle e.
Because the observation data quantity is large, in order to improve the calculation efficiency, a small number of observation values are selected to calculate initial MP node parameters and covariance matrixes thereof; then, using the node parameters and the covariance matrix as virtual observed quantities to construct a new observation equation; and finally, sequentially calculating final MP node parameters by adopting a sequential adjustment method.
Table 1 is an example of the pseudo-range correction information table of B1I/B2I based on IGSO/MEO generated in this embodiment. It should be noted that, in practical application, the node parameters are recalculated according to historical observation data.
TABLE 1 IGSO/MEO B1I/B2I pseudorange correction values
And step S3, searching pseudo-range correction node information in the pseudo-range correction information table according to the satellite type and the signal frequency point and fitting when the BDS CV and/or BDS PPP time is transferred, and correcting the pseudo-range observed value according to the fitting result.
In this step, taking the common view BDS CV of the big dipper satellite as an example, the satellite-end multipath error correction is explained, and the following calculation process is also applicable to the precise single-point positioning PPP time transfer of the big dipper, and specifically includes:
step S31, the Beidou broadcast ephemeris takes the frequency point B3 as reference, and the broadcast ephemeris group delay GD is corrected:
in the formula (4), f1And f2B1 and B2, respectivelyGD1And TGD2Respectively representing the group delay of B1 and B2 frequency points;
at step S32, the satellite co-view equation is expressed as:
in the formula (5), the reaction mixture is,
representing a dual-frequency ionosphere-free combination code,
which represents the coordinates of the satellite or satellites,
representing the antenna phase center coordinate calculated by using the dual-frequency ionosphere-free combined observation value, S representing the earth rotation effect, △ trelRepresenting relativistic effects △ ttropRepresenting tropospheric delay; GD is the broadcast ephemeris group delay.
In the step, the multipath error of the second Beidou satellite terminal is directly related to the altitude angle through the satellite coordinates
And receiver antenna phase center coordinates
And calculating the altitude angle of each satellite, performing linear interpolation according to the node information of the pseudo-range correction information table corresponding to the satellite type, the signal frequency point and the altitude angle, calculating a pseudo-range correction value, and correcting the pseudo-range observation value.
According to the technical scheme, satellite multipath error correction is introduced into Beidou time transmission, based on global MGEX observation station observation data, a piecewise linear correction model is constructed by using MP combined observation values and altitude angles, a pseudo range correction information table is obtained, the pseudo range observation values of the Beidou second satellite are corrected, the pseudo ranges are corrected systematically directly at a user terminal according to the altitude angles, the influence of satellite multipath on the time transmission is weakened, the problem of satellite multipath error transmission of the Beidou second time transmission is solved, and the precision of the Beidou second time transmission is improved.
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 (8)
1. A Beidou second time transfer satellite-side multipath error correction method is characterized by comprising the following steps:
step S1, selecting data of a multi-system observation network MGEX observation station of the International Global navigation satellite service organization as a data source, and grouping the data source according to a satellite number and a signal frequency point to obtain grouped data;
step S2, segmenting each grouped data by utilizing a pseudo-range multi-path combined MP sequence, constructing a segmented linear model, and generating pseudo-range correction information tables of different types of satellites and different frequency points;
and step S3, searching pseudo-range correction node information in the pseudo-range correction information table according to the satellite type and the signal frequency point during time transmission, fitting, calculating a pseudo-range correction value, and correcting the pseudo-range observation value.
2. The Beidou second time-transfer satellite-side multipath error correction method according to claim 1, wherein in the step S2, each packet data is segmented and further segmented according to altitude angle change, and an objective function of a segmented linear model is represented as:
s.t.fj(ej)-fj+1(ej)＝0 (1)
in formula (1), j is 1,2, …, m-1, m represents the total number of segmentation nodes; i is 1,2 …, n represents the length of the MP sequence of the corresponding segment; f represents a piecewise function linearly related to the altitude; MP represents pseudorange multipath combination observations.
3. The Beidou second time-transfer satellite-terminal multipath error correction method according to claim 2, characterized in that the MP pseudorange multipath combination observed value is obtained by combining a single frequency pseudorange and a dual frequency carrier phase, and is expressed as:
in formula (2), i and j (i, j ≠ 1,2,3, i ≠ j) represent different frequencies; MP represents pseudo-range multi-path combination observed value; p and L represent pseudorange and carrier phase observations, respectively; f represents a carrier frequency; m represents a carrier multipath error; b comprises phase ambiguity and hardware delay deviation; representing the observed noise.
4. The Beidou second time-transfer satellite-side multipath error correction method according to any one of claims 1 to 3, wherein the step S2 specifically comprises the steps of:
step S21, cycle slip detection is carried out on the carrier phase observed value of each grouped data, and arc segment division is carried out on each grouped data according to whether cycle slip occurs or not;
step S22, calculating the average value of MP combination observation values of each arc segment of each grouped data, and subtracting the average value from all MP observation values;
and step S23, dividing MP combined observed values in the range of 5-85 degrees at preset intervals, and performing piecewise linear fitting to generate pseudo-range correction information tables of different types of satellites and different frequency points.
5. The Beidou second time-transfer satellite-side multipath error correction method according to claim 4, wherein the predetermined interval in the step S23 is a 5 ° elevation angle, 17 parameters to be estimated are obtained by dividing MP combined observation values in a range of 5 ° to 85 °, and for any observation value [ e, MP ], the observation equation is expressed as:
in the formula (3), x represents the value of the parameter MP to be estimated corresponding to the node of the segment, and j represents the segment corresponding to the elevation angle e.
6. The Beidou second time transfer satellite-side multipath error correction method according to claim 5, wherein the time transfer is Beidou satellite common view BDS CV and/or Beidou satellite precise single point positioning BDS PPP time transfer.
7. The method for correcting the multipath error at the Beidou second time-transfer satellite end of claim 5, wherein in the step S3, the pseudo-range observed value is corrected during the time transfer, and the method specifically comprises the following steps:
step S31, the Beidou broadcast ephemeris takes the frequency point B3 as reference, and the broadcast ephemeris group delay GD is corrected:
in the formula (4), f1And f2B1 and B2, respectivelyGD1And TGD2Respectively representing the group delay of B1 and B2 frequency points;
at step S32, the satellite co-view equation is expressed as:
in the formula (5), the reaction mixture is,
representing a dual-frequency ionosphere-free combination code,
which represents the coordinates of the satellite or satellites,
representing the antenna phase center coordinate calculated by using the dual-frequency ionosphere-free combined observation value, S representing the earth rotation effect, △ trelRepresenting relativistic effects △ ttropRepresenting tropospheric delay; GD is the broadcast ephemeris group delay.
8. The method of claim 7, wherein the correction of the pseudorange observations is performed directly at the user end.
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| CN115308781A (en) * | 2022-09-02 | 2022-11-08 | 中国人民解放军国防科技大学 | BDGIM assistance-based phase smoothing pseudorange high-precision time transfer method |
| CN116299618A (en) * | 2023-03-24 | 2023-06-23 | 中国科学院精密测量科学与技术创新研究院 | Carrier phase satellite common view time transfer method based on PPP (point-to-point protocol) calculation parameters |
| CN116299618B (en) * | 2023-03-24 | 2024-03-19 | 中国科学院精密测量科学与技术创新研究院 | Carrier phase satellite common view time transfer method based on PPP (point-to-point protocol) calculation parameters |
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