CN112433234A - Ionized layer TEC real-time estimation method suitable for GNSS receiver in middle and low latitude areas - Google Patents

Ionized layer TEC real-time estimation method suitable for GNSS receiver in middle and low latitude areas Download PDF

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CN112433234A
CN112433234A CN202011309296.7A CN202011309296A CN112433234A CN 112433234 A CN112433234 A CN 112433234A CN 202011309296 A CN202011309296 A CN 202011309296A CN 112433234 A CN112433234 A CN 112433234A
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欧明
陈亮
马宝田
熊雯
冯健
於晓
甄卫民
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China Institute of Radio Wave Propagation CETC 22 Research Institute
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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
    • G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
    • 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
    • G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
    • 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
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/37—Hardware or software details of the signal processing chain

Abstract

The invention discloses a real-time ionosphere TEC estimation method suitable for a GNSS receiver in a medium and low latitude area, which comprises the following steps: step 1, calculating an ionized layer TEC based on pseudo-range observation: step 2, calculating the ionized layer TEC based on the carrier phase: step 3, calculating an ionized layer TEC based on a carrier phase smoothing pseudorange: step 4, constructing a function of the difference code deviation of the vertical TEC and the receiver: step 5, resolving the difference code deviation of the receiver: step 6, calculating the difference code deviation mean value of the receiver in the past 14 days: and 7, calculating and outputting the TEC measured value of the GNSS receiver. The method disclosed by the invention provides a real-time ionosphere TEC estimation method suitable for a GNSS receiver in a medium and low latitude area, and the method can realize the real-time ionosphere TEC estimation with higher precision under the conditions of scintillation and ionosphere disturbance.

Description

Ionized layer TEC real-time estimation method suitable for GNSS receiver in middle and low latitude areas
Technical Field
The invention belongs to the field of ionosphere detection technology application, and particularly relates to a real-time ionosphere TEC estimation method suitable for a GNSS receiver in a medium and low latitude area in the field.
Background
The ionosphere is an important transmission medium between the satellite-ground links, the disturbance change of the ionosphere can have a serious influence effect on radio signals passing through the ionosphere, and the accurate sensing of the change of the ionosphere has important significance for optimizing various radio system engineering designs such as short-wave communication, satellite navigation, measurement and control monitoring and the like and guaranteeing the normal operation of radio information systems. Since the 90 s of the last century, with the gradual improvement of global navigation satellite system construction, monitoring of the temporal and spatial variation of the ionosphere by using a ground-based dense GNSS receiver has been highly successful. With the development of Global Navigation Satellite System (GNSS), the detection of ionospheric changes based on GNSS means has become an important development direction in the field of ionospheric detection technology.
At present, the real-time measurement of the absolute TEC of the ionosphere by the stand-alone GNSS receiver of the existing GNSS receiver needs to be completed by relying on the cross-sight of a plurality of GNSS receivers on the ground to the satellite, but needs to be realized by networking, and for stand-alone observation, the TEC estimation error is large, and has two main reasons: under the condition of lacking other auxiliary data, the real-time ionosphere Total Electron Content (TEC) estimation of a single GNSS receiver needs to estimate hardware delay amounts of a plurality of GNSS satellites and the receiver at the same time, and the possibility of ill-condition exists in parametric equation solution, so that a large error exists in TEC solution; in addition, the real-time estimation of ionosphere TEC by GNSS in low latitude areas still faces many challenges due to the strong spatio-temporal variation gradient and F-zone irregularity.
Disclosure of Invention
The invention aims to provide a real-time ionosphere TEC estimation method suitable for a GNSS receiver in a medium and low latitude area.
The invention adopts the following technical scheme:
the improvement of a real-time ionosphere TEC estimation method suitable for a GNSS receiver in a medium and low latitude area, which comprises the following steps:
step 1, calculating an ionized layer TEC based on pseudo-range observation:
using pseudorange measurements over the GNSS receiver L1 and L2 bands to obtain an estimate of the TEC of each GNSS satellite along the visible path, the ionospheric TEC based on pseudorange observations can be expressed as:
TECP＝α[(P2-P1)-(BR-BS)+DP+EP] (1)
in the formula: α is a constant associated with the frequency bands L1, L2, P1Is a pseudorange measurement, P, over the L1 frequency band2Is a pseudo-range measurement in the L2 band, BRIs the receiver differential code bias, BSIs the satellite differential code bias, DPIs the pseudo-range multipath error, EPIs pseudorange measurement noise;
step 2, calculating the ionized layer TEC based on the carrier phase:
using carrier phase measurements on the GNSS receivers L1 and L2 bands to obtain an estimate of the TEC of each GNSS satellite along the visible path, the ionospheric TEC based on carrier phase observations can be expressed as:
TECL＝β[(L1-(f1/f2)L2)-(N1-(f1/f2)N2)+DL+EL] (2)
in the formula: f. of1、f2Carrier frequencies corresponding to an L1 frequency band and an L2 frequency band of the GNSS receiver respectively; beta is the sum of the frequency f1、f2Constant of correlation, L1Is the carrier phase at the L1 frequency band, L2Is the carrier phase, N, over the L2 band1Is L1Integer ambiguity of phase, N2Is L2Integer ambiguity of phase, DLIs the phase multipath error, ELIs the phase measurement noise;
step 3, calculating an ionized layer TEC based on a carrier phase smoothing pseudorange:
the TEC is estimated using carrier phase balanced pseudorange measurements, ignoring multipath and noise terms, the pseudoranges are used to estimate the unknown integer ambiguity:
TECL＝TECR-α(BR+BS) (3)
wherein: TEC (thermoelectric cooler)RReferred to as relative TEC, determined by a filtered combination of carrier phase and pseudorange measurements, expressed as:
TECR＝DCP+<DPR-DCP>arc (4)
DCP＝β[L1-(f1/f2)L2] (5)
DPR＝α[P2-P1] (6)
wherein:<·>arcthe average value of the arc sections continuously observed between the GNSS receiver and the satellite is taken, the 60-second sliding average value is taken, and the arc sections shorter than 2 minutes are automatically removed;
step 4, constructing a function of the difference code deviation of the vertical TEC and the receiver:
estimating receiver differential code bias B using data collected between 03:00-06:00 when the receiver is located in placeRThe satellite differential code deviation adopts a satellite deviation estimated value B provided by a European orbit determination centerSConstructing a function of the difference code deviation of the vertical TEC and the receiver:
TECv(BR)＝[TECR-α(BR+Bs)]/M(E,h) (7)
M(E,h)＝sec{arcsin(RecosE)/(Re+h)} (8)
wherein: TEC (thermoelectric cooler)VRepresenting the vertical TEC projected on the receiver and satellite link, M (E, h) representing the projection function between the tilted TEC and the vertical TEC, ReThe radius of the earth, E represents the elevation angle between a receiver and a satellite, h represents the height of an ionosphere thin layer, and the distance is 350 kilometers;
step 5, resolving the difference code deviation of the receiver:
calculating the total variance of vertical TECs of ionospheric puncture points of GNSS receivers between 03:00 and 06:00 at local time, and calculating to obtain B when the total variance is set to be minimumRNamely, the difference code deviation of the receiver, the calculation method is as follows:
Figure BDA0002789222520000031
wherein: symbol i indicates that the data is taken from the ith local time period, and the step size of the time period is taken to be 12 minutes; in the processing process, only the data of the satellite with the elevation angle of more than 20 degrees is taken, and the variance function (9) is minimized by using a Boolean method;
step 6, calculating the difference code deviation mean value of the receiver in the past 14 days:
starting the receiver and stably operating for 14 days, estimating the difference code deviation value of the receiver on the day each day, and using the average value of the estimated receiver deviation value of the receiver on the previous 14 days
Figure BDA0002789222520000032
As an input to the calibrated TEC;
and 7, calculating the TEC measurement value of the GNSS receiver and outputting:
calculating to obtain the difference code deviation of the receiver according to the step 6
Figure BDA0002789222520000033
Then, the satellite deviation estimated value B provided by combining the European orbit determination centerSAnd calculating to obtain the TEC value estimated by the receiver in real time, wherein the calculation method comprises the following steps:
Figure BDA0002789222520000034
wherein:
Figure BDA0002789222520000035
which represents the average value of the differential code offsets over the past 14 days of the receiver, after the TEC value is estimated,and the receiver keeps the results to the receiver according to the corresponding measuring time, the elevation angle, the azimuth angle and the TEC value of the receiver and stores the results in a file.
The invention has the beneficial effects that:
the invention provides a real-time ionosphere TEC estimation method suitable for a GNSS receiver in a medium-low latitude area based on GNSS detection and ionosphere radio wave propagation theoretical technologies, and the method can realize high-precision ionosphere TEC real-time estimation under the conditions of scintillation and ionosphere disturbance. The method has important significance for GNSS receivers to realize high-precision detection of the ionosphere and improve ionosphere environment information guarantee capability of a radio information system
According to the method, the ionosphere TEC value can be estimated in real time by only utilizing the observation data of a single GNSS receiver without simultaneously observing a plurality of stations, the requirement of an unattended GNSS receiver on automatic ionosphere detection can be met, and the method has very high operation stability.
The method can effectively avoid the influence of strong space-time variation gradient and F-zone irregularity on the measurement precision of the ionized layer TEC, and provides an effective technical approach for high-precision measurement of the ionized layer in the low-latitude area.
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FIG. 1 is a schematic flow diagram of the process of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The embodiment 1 discloses a real-time ionosphere TEC estimation method applicable to a GNSS receiver in a medium and low latitude area, which mainly utilizes the GNSS receiver and embeds the real-time ionosphere TEC estimation method in the GNSS receiver to realize real-time TEC estimation based on a GNSS standalone in any place in the medium and low latitude area, and lays a foundation for design and application of high-precision ionosphere measurement equipment, as shown in fig. 1, and specifically includes the following steps:
step 1, calculating an ionized layer TEC based on pseudo-range observation:
using pseudorange measurements over the GNSS receiver L1 and L2 bands to obtain an estimate of the TEC of each GNSS satellite along the visible path, the ionospheric TEC based on pseudorange observations can be expressed as:
TECP＝α[(P2-P1)-(BR-BS)+DP+EP] (1)
in the formula: alpha is a constant (in TECU/ns) associated with the frequency bands L1, L2, P1Is a pseudorange measurement, P, over the L1 frequency band2Is a pseudo-range measurement in the L2 band, BRIs the receiver differential code bias (in ns), BSIs the satellite differential code bias (in ns), DPIs the pseudorange multipath error (in ns), EPIs pseudorange measurement noise (in ns); using pseudorange measurement TEC depends on accurately determining hardware differential (inter-frequency) code bias BRAnd BSThe precision of the TEC measured by the pseudo range is limited by multipath and a measurement noise item, and the measurement error is larger;
step 2, calculating the ionized layer TEC based on the carrier phase:
using carrier phase measurements on the GNSS receivers L1 and L2 bands to obtain an estimate of the TEC of each GNSS satellite along the visible path, the ionospheric TEC based on carrier phase observations can be expressed as:
TECL＝β[(L1-(f1/f2)L2)-(N1-(f1/f2)N2)+DL+EL] (2)
in the formula: f. of1、f2Carrier frequencies corresponding to an L1 frequency band and an L2 frequency band of the GNSS receiver respectively; beta is the sum of the frequency f1、f2Constant of correlation (unit TECU/L1 weeks), L1Is the carrier phase (unit cycle) in the L1 band, L2Is the carrier phase (unit cycle), N, over the L2 band1Is L1Integer ambiguity of phase, N2Is L2Integer ambiguity of phase, DLIs the phase multipath error, ELIs the phase measurement noise; using carrier phasesThe bit measurement TEC is generally more accurate because multipath errors and measurement noise are smaller and generally negligible. However, the disadvantage of using the carrier phase measurement alone is the integer ambiguity N1And N2Is unknown.
Step 3, calculating an ionized layer TEC based on a carrier phase smoothing pseudorange:
the TEC is estimated using carrier phase balanced pseudorange measurements, ignoring multipath and noise terms, the pseudoranges are used to estimate the unknown integer ambiguity:
TECL＝TECR-α(BR+BS) (3)
wherein: TEC (thermoelectric cooler)RReferred to as relative TEC, determined by a filtered combination of carrier phase and pseudorange measurements, expressed as:
TECR＝DCP+<DPR-DCP>arc (4)
DCP＝β[L1-(f1/f2)L2] (5)
DPR＝α[P2-P1] (6)
wherein:<·>arcthe average value of the arc sections continuously observed between the GNSS receiver and the satellite is taken, a 60-second sliding average value is taken to reduce noise and multipath, and the arc sections shorter than 2 minutes are automatically removed; the relative total electron content provides an absolute estimate of the total electron content prior to "calibration" by subtracting the receiver and satellite differential biases.
Step 4, constructing a function of the difference code deviation of the vertical TEC and the receiver:
estimating receiver differential code bias B using data collected between 03:00-06:00 when the receiver is located in placeRThe satellite differential CODE deviation adopts the satellite deviation estimated value B provided by European orbit determination Center (CODE)SConstructing a function of the difference code deviation of the vertical TEC and the receiver:
TECv(BR)＝[TECR-α(BR+Bs)]/M(E,h) (7)
M(E,h)＝sec{arcsin(RecosE)/(Re+h)} (8)
wherein: TEC (thermoelectric cooler)VRepresenting the vertical TEC projected on the receiver and satellite link, M (E, h) representing the projection function between the tilted TEC and the vertical TEC, ReThe radius of the earth, E represents the elevation angle between the receiver and the satellite, h represents the ionospheric lamina height, which is generally 350 km;
step 5, resolving the difference code deviation of the receiver:
calculating the total variance of vertical TECs of ionospheric puncture points of GNSS receivers between 03:00 and 06:00 at local time, and calculating to obtain B when the total variance is set to be minimumRNamely, the difference code deviation of the receiver, the calculation method is as follows:
Figure BDA0002789222520000061
wherein: symbol i indicates that the data is taken from the ith local time period, and the step size of the time period is taken to be 12 minutes; in the processing process, only the data of the satellite with the elevation angle of more than 20 degrees is taken to reduce the multipath influence to the maximum extent, and the variance function (9) can be minimized by using a Brent (Brent) method;
step 6, calculating the difference code deviation mean value of the receiver in the past 14 days:
starting the receiver and stably operating for 14 days, estimating the difference code deviation value of the receiver on the day each day, and using the average value of the estimated receiver deviation value of the receiver on the previous 14 days
Figure BDA0002789222520000062
As an input to the calibrated TEC; by adopting the processing strategy, the influence of the ionosphere disturbance effect on the ionosphere TEC estimation precision can be effectively reduced.
And 7, calculating the TEC measurement value of the GNSS receiver and outputting:
calculating to obtain the difference code deviation of the receiver according to the step 6
Figure BDA0002789222520000063
Satellite provided later in conjunction with European orbital Center (CODE)Deviation estimated value BSAnd calculating to obtain the TEC value estimated by the receiver in real time, wherein the calculation method comprises the following steps:
Figure BDA0002789222520000064
wherein:
Figure BDA0002789222520000065
and after the TEC value is estimated and obtained, the receiver keeps the result to the receiver according to the sequence of the corresponding measurement time, the elevation angle, the azimuth angle and the TEC value of the receiver, and the result is output and stored in a file.
In conclusion, the ionosphere TEC real-time estimation method suitable for the GNSS receiver in the middle and low latitude areas is provided, the ionosphere TEC value can be estimated in real time only by utilizing observation data of a single GNSS receiver without simultaneously observing a plurality of stations, the requirement of automatic ionosphere detection of an unattended GNSS receiver can be met, and the ionosphere TEC real-time estimation method has very high operation stability. Meanwhile, the invention can effectively avoid the influence of strong space-time variation gradient and F-zone irregularity on the measurement precision of the ionized layer TEC, and provides an effective technical approach for high-precision measurement of the ionized layer in the low-latitude area.

Claims (1)

1. An ionosphere TEC real-time estimation method suitable for a GNSS receiver in a medium and low latitude area is characterized by comprising the following steps:
step 1, calculating an ionized layer TEC based on pseudo-range observation:
using pseudorange measurements over the GNSS receiver L1 and L2 bands to obtain an estimate of the TEC of each GNSS satellite along the visible path, the ionospheric TEC based on pseudorange observations can be expressed as:
TECP＝α[(P2-P1)-(BR-BS)+DP+EP] (1)
in the formula: α is a constant associated with the frequency bands L1, L2, P1Is a pseudorange measurement, P, over the L1 frequency band2Is a pseudo-range measurement in the L2 band, BRIs the receiver differential code bias, BSIs the satellite differential code bias, DPIs the pseudo-range multipath error, EPIs pseudorange measurement noise;
step 2, calculating the ionized layer TEC based on the carrier phase:
using carrier phase measurements on the GNSS receivers L1 and L2 bands to obtain an estimate of the TEC of each GNSS satellite along the visible path, the ionospheric TEC based on carrier phase observations can be expressed as:
TECL＝β[(L1-(f1/f2)L2)-(N1-(f1/f2)N2)+DL+EL] (2)
in the formula: f. of1、f2Carrier frequencies corresponding to an L1 frequency band and an L2 frequency band of the GNSS receiver respectively; beta is the sum of the frequency f1、f2Constant of correlation, L1Is the carrier phase at the L1 frequency band, L2Is the carrier phase, N, over the L2 band1Is L1Integer ambiguity of phase, N2Is L2Integer ambiguity of phase, DLIs the phase multipath error, ELIs the phase measurement noise;
step 3, calculating an ionized layer TEC based on a carrier phase smoothing pseudorange:
the TEC is estimated using carrier phase balanced pseudorange measurements, ignoring multipath and noise terms, the pseudoranges are used to estimate the unknown integer ambiguity:
TECL＝TECR-α(BR+BS) (3)
wherein: TEC (thermoelectric cooler)RReferred to as relative TEC, determined by a filtered combination of carrier phase and pseudorange measurements, expressed as:
TECR＝DCP+<DPR-DCP>arc (4)
DCP＝β[L1-(f1/f2)L2] (5)
DPR＝α[P2-P1] (6)
wherein:<·>arcthe average value of the arc sections continuously observed between the GNSS receiver and the satellite is taken, the 60-second sliding average value is taken, and the arc sections shorter than 2 minutes are automatically removed;
step 4, constructing a function of the difference code deviation of the vertical TEC and the receiver:
estimating receiver differential code bias B using data collected between 03:00-06:00 when the receiver is located in placeRThe satellite differential code deviation adopts a satellite deviation estimated value B provided by a European orbit determination centerSConstructing a function of the difference code deviation of the vertical TEC and the receiver:
TECv(BR)＝[TECR-α(BR+Bs)]/M(E,h) (7)
M(E,h)＝sec{arcsin(RecosE)/(Re+h)} (8)
wherein: TEC (thermoelectric cooler)VRepresenting the vertical TEC projected on the receiver and satellite link, M (E, h) representing the projection function between the tilted TEC and the vertical TEC, ReThe radius of the earth, E represents the elevation angle between a receiver and a satellite, h represents the height of an ionosphere thin layer, and the distance is 350 kilometers;
step 5, resolving the difference code deviation of the receiver:
calculating the total variance of vertical TECs of ionospheric puncture points of GNSS receivers between 03:00 and 06:00 at local time, and calculating to obtain B when the total variance is set to be minimumRNamely, the difference code deviation of the receiver, the calculation method is as follows:
Figure FDA0002789222510000021
wherein: symbol i indicates that the data is taken from the ith local time period, and the step size of the time period is taken to be 12 minutes; in the processing process, only the data of the satellite with the elevation angle of more than 20 degrees is taken, and the variance function (9) is minimized by using a Boolean method;
step 6, calculating the difference code deviation mean value of the receiver in the past 14 days:
the receiver is switched on and stably operated for 14 days, and the estimation is obtained every dayThe average value of the receiver differential code deviation value of the current day is used
Figure FDA0002789222510000022
As an input to the calibrated TEC;
and 7, calculating the TEC measurement value of the GNSS receiver and outputting:
calculating to obtain the difference code deviation of the receiver according to the step 6
Figure FDA0002789222510000023
Then, the satellite deviation estimated value B provided by combining the European orbit determination centerSAnd calculating to obtain the TEC value estimated by the receiver in real time, wherein the calculation method comprises the following steps:
Figure FDA0002789222510000024
wherein:
Figure FDA0002789222510000025
and after the TEC value is estimated and obtained, the receiver keeps the result to the receiver according to the sequence of the corresponding measurement time, the elevation angle, the azimuth angle and the TEC value of the receiver, and the result is output and stored in a file.
CN202011309296.7A 2020-11-19 2020-11-19 Ionized layer TEC real-time estimation method suitable for GNSS receiver in middle and low latitude areas Pending CN112433234A (en)

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