CN113009519A - Software calibration method for RDSS system zero value - Google Patents

Abstract

The invention provides a software calibration method for RDSS system zero value, which realizes calibration and correction of RDSS system zero value error by software calibration only by using the existing RDSS system and monitoring station equipment, and can further improve the positioning, bidirectional timing and unidirectional time service precision of the RDSS system: the adaptability is strong, the calibration can be carried out all weather at any time, and the stable operation of the system is not influenced; the principle is simple, the zero value error calibration precision of the system is high on the premise of ensuring accurate zero value calibration and accurate point location coordinates of the monitoring station receiver equipment, and the service precision of the system can be further improved; the inclusion is strong, and the error tolerance and the self-correction are also realized on other system residual errors except the system zero value error; through test analysis and verification, the zero value calibration method of the system can improve the zero value calibration precision of the RDSS system, and further improve the RDSS positioning, bidirectional timing and unidirectional time service precision.

Description

Software calibration method for RDSS system zero value

Technical Field

The invention belongs to the technical field of satellite navigation positioning, timing and time service, and particularly relates to a zero value software calibration method of an RDSS system.

Background

The accuracy of RDSS system zero value calibration directly affects the service performance of RDSS positioning, bidirectional timing and unidirectional time service, the traditional RDSS system zero value calibration adopts a hardware zero value calibration method, the hardware zero value calibration method needs to be completed under the condition that equipment does not work, calibration and input are usually completed once before system service, the system zero value calibration method is used as an in-service system for providing service uninterruptedly to the outside, and signals cannot be cut off to recalibrate the system zero value.

The RDSS system zero value has slow drift, the current RDSS system zero value has errors, the system service precision is influenced to a certain extent, the problem of service precision deterioration caused by the zero value problem is gradually obvious along with the lengthening of the system operation time and the gradual aging of RDSS system equipment, the online operation RDSS system zero value needs to be calibrated, but the current method for realizing the online calibration of the system zero value is lacked.

Disclosure of Invention

The invention aims to solve the technical problems that the zero value of an RDSS running system has errors, and the zero value of the system cannot be re-calibrated by adopting a hardware zero value calibration method on the premise of not interrupting the running of the system, and provides a software calibration method for the zero value of the RDSS system, which can improve the calibration precision of the zero value of the system, does not influence the stable running of the system, and can further improve the positioning, bidirectional timing and unidirectional time service precision of the RDSS system.

The zero value calibration method of the RDSS system comprises the following steps:

step 1, calibrating a pseudo range rho after zero value correction by an RDSS system, and further defining pseudo ranges for ionospheric delay correction, stratospheric delay correction and earth autorotation correction as a pseudo range P;

step 2, getting in and out a monitoring station positioning signal of the RDSS system through a link C → S_o→U→S_iThe → C distance as the calibration reference distance D; wherein, C → S_o→U→S_i→ C denotes ranging signal from the central station C to the outbound satellite S_oTo the user U, and then to the inbound satellite S_iForward, last inbound link by central station C;

and 3, calculating the combined zero value error of different access stations of the RDSS system, and specifically comprising the following steps:

s301: defining dP-D as RDSS system access station combination zero value calibration basic data;

s302: modifying the same beamRelative error delta Z of different equipment inbound system zero value_equi(ii) a Wherein the device is a channel or demodulation unit;

s303: on the basis of completing the zero value relative error correction of the same beam different equipment inbound system, a certain inbound reference beam is further selected, and the same beam is outbound and inbound pseudo-range rho of different beams_inbandPseudorange p inbound to reference beam_inband0The difference value of the two beam values is analyzed and processed, and the relative error delta Z of the system zero values of the same beam, the outgoing beam and the incoming beam of the RDSS system are calculated_inband(ii) a Further correcting the computed result for the pseudorange ρ corresponding to the beam inbound_inbandAnd finishing the correction of the relative error of the system zero values of different beam entrances of the same beam exit station.

S304: correcting relative error delta Z of system zero values of different wave beams outbound from the same satellite_outband；

S305: calculating the combined zero value error delta Z of the station entering and the station exiting of the RDSS system of different satellite reference beam outbound and reference beam reference equipment inbound₀：

S306: scaling the inbound and outbound combined zero value error delta Z of the RDSS system of the inbound full link of each different device of each outbound beam;

step 4, calculating the outbound zero value error delta Z of the RDSS system_{Go out of station}；

Step 5, combining the RDSS system inbound and outbound combined zero value error delta Z calculated in step 3 and the RDSS system outbound zero value error delta Z calculated in step 4_{Go out of station}Calculating the RDSS system inbound zero error Z_{Docking station}The method specifically comprises the following steps:

Z_{docking station}＝ΔZ-ΔZ_{Go out of station}；

Step 6, calculating the outbound zero value error delta Z of the RDSS system calculated in the step 4_{Go out of station}And the RDSS system inbound zero error Z calculated in step 5_{Docking station}And when the method is used for correcting the outbound zero value of the RDSS system and the inbound zero value of the RDSS system, the calibration aiming at the zero value of the RDSS system can be completed:

ΔZ_{RDSS positioning}＝ΔZ_{Go out of station}+ΔZ_{Docking station}

ΔZ_{RDSS timing}＝(ΔZ_{Go out of station}-ΔZ_{Docking station})/2；

ΔZ_{RDSS time service}＝ΔZ_{Go out of station}。

Preferably, in S302, when the device is a channel:

selecting a certain reference channel ch0, and inputting pseudo range rho of different channels chN of the same wave beam_chNPseudo-range p inbound to reference channel_ch0Comparison result of (1) ("rho")_chN-ρ_ch0Analyzing and processing to calculate the relative error delta Z of system zero values of different channels inbound in the same beam of the RDSS system_ch(ii) a Calculating the result deltaZ_chFurther correcting rho of the corresponding channel_chNAnd finishing the correction of the relative error of the system zero values inbound from different channels of the same beam.

Preferably, in S302, when the apparatus is a demodulation unit:

selecting a reference channel c0, and inputting pseudo range rho of different demodulation units cN of the same beam_cNPseudo-range p inbound to reference channel_c0Comparison result of (1) ("rho")_cN-ρ_c0Analyzing and processing to calculate the relative error delta Z of system zero values of different demodulation units inbound in the same beam of the RDSS system_c(ii) a Calculating the result deltaZ_cAnd further correcting the pseudo range corresponding to the inbound of the demodulation unit to finish the correction of the relative error of the system zero value inbound of different demodulation units of the same beam.

Preferably, in S304, the relative error δ Z of system zero values of different beams outbound from the same satellite is corrected_outbandThe method comprises the following steps: on the basis of completing the correction of the zero value relative errors of the inbound systems of the same outbound wave beam and different wave beams and different equipment, one outbound reference wave beam is further selected, and the outbound pseudo range rho of the same satellite and different wave beams is processed_outbandPseudorange ρ of reference beam outbound_outband0Respectively fitting and modeling, calculating the fitted pseudo-range of different beam-outing stations at the same time point and the fitted pseudo-range of the reference beam-outing station to obtain difference values, and analyzing and processing the difference values corresponding to a plurality of time points to obtain different beam-outing stations of the same satellite of the RDSS systemSystematic zero relative error deltaZ of a station_outband。

Preferably, in S304, the relative error δ Z of system zero values of different beams outbound from the same satellite is corrected_outbandThe method comprises the following steps:

firstly, obtaining the corrected pseudo range P of different wave beams of the same satellite, calculating the difference dP between the pseudo range P and the calibration reference distance D_outband(ii) a Then calculating the difference dP between the corrected pseudo-range P of the reference beam outbound and the calibrated reference distance D_outband0Will dP_outbandAnd dP_outband0Respectively analyzing and processing the signals, and calculating the difference to obtain the relative error delta Z of the system zero values of the same satellite and different beams of the RDSS system_outband(ii) a By δ Z_outbandAnd further correcting pseudo ranges corresponding to the outbound of different beams, and finishing the correction of the relative error of the system zero values of the outbound of different beams.

Preferably, in S304, the relative error δ Z of system zero values of different beams outbound from the same satellite is corrected_outbandThe method comprises the following steps:

positioning receiver outbound link C → S with monitoring station_o→ U one-way range value, selecting a certain outbound reference beam, comparing the one-way range values of different outbound beams of the same satellite with the one-way range value of the outbound reference beam, analyzing, and calculating the system zero value relative error delta Z of different outbound beams of the RDSS system_outband(ii) a Wherein C → S_o→ U denotes the satellite S from the central station C to the outbound satellite_oForwarded and then to the outbound link of user U.

Preferably, in S305, on the basis of completing the correction of the relative error of the system zero under the outbound of different beams of the same satellite and the inbound links of different devices of different beams of the same satellite, the dP result at this time is calculated, and all satellites are traversed to obtain the dP result corresponding to each satellite; analyzing and processing the dP results corresponding to each satellite, and calculating the combined zero value error of the incoming and outgoing stations of the RDSS system of all the outbound satellite reference beams and the inbound station of the reference beam reference equipment, wherein the error is the absolute error delta Z of the system zero value under the link₀：

ΔZ₀＝dP。

Preferably, in S305, on the basis of completing the relative error correction of the system zero values of the same beam and different devices inbound, the dP result corresponding to the outbound reference beam inbound link of the reference beam is directly selected, and all satellites are traversed to obtain the dP result corresponding to the outbound reference beam inbound link of the reference beam corresponding to each satellite; analyzing and processing the dP results corresponding to each satellite, and calculating the combined zero value error delta Z of the station access of the RDSS system for all satellite reference beam outbound and reference beam reference equipment inbound₀：

ΔZ₀＝dP。

Preferably, in S306, the method for calculating the combined zero value error Δ Z of the ingress and egress station of the RDSS system includes:

ΔZ＝ΔZ₀+δZ_equi+δZ_inband+δZ_outband。

preferably, in S306, the method for calculating the combined zero value error Δ Z of the ingress and egress station of the RDSS system includes:

ΔZ_{outban out of inbound}＝dP_{outban out of inbound}+δZ_equi。

Preferably, the specific method in step 4 is as follows:

s401: the method comprises the steps of collecting a bidirectional timing result T of a timing receiver of a monitoring station by taking the time of an atomic clock with Beidou system time synchronization as a reference T0_{RDSS timing}And comparing the time with the atomic clock time reference T0 with the time synchronization of the Beidou system to obtain a difference dT_TimingAs calibration basic data of system zero value errors affecting RDSS bidirectional timing service:

dT_timing＝T_{RDSS timing}-T0；

S402: for all dT_TimingAnalyzing and processing to obtain a dT_TimingValue as a systematic zero error Δ Z affecting RDSS two-way timing services_{RDSS timing}：

ΔZ_{RDSS timing}＝(ΔZ_{Go out of station}-ΔZ_{Docking station})/2；

S403, combining the RDSS system access station combination zero value calculated in the step 3Error delta Z, calculating the outbound zero value error delta Z of the RDSS system_{Go out of station}：

ΔZ_{Go out of station}＝(ΔZ+2ΔZ_{RDSS timing})/2。

Preferably, the specific method in step 4 is as follows:

s701: the method comprises the steps of collecting a one-way time service result T of a timing time service receiver of a monitoring station by taking the time of an atomic clock with Beidou system time synchronization as a reference T0_{RDSS time service}And comparing the time with the atomic clock time reference T0 with the time synchronization of the Beidou system to calculate the RDSS one-way time service error dT_{RDSS time service}；

dT_{RDSS time service}＝T_{RDSS time service}-T0；

S702: to dT_{RDSS time service}Analyzing and processing, wherein the obtained value is used as an estimated value of the system outbound zero value error calibration, and the method specifically comprises the following steps:

ΔZ_{go out of station}＝dZ_{RDSS time service}。

Preferably, the analyzing and processing is to perform filtering, averaging, fitting, modeling, graphical analysis or mean square error operation to process a plurality of values into one value.

A positioning method of an RDSS system utilizes the combined zero value error delta Z of the incoming and outgoing stations of the RDSS system calculated in the step 3 to directly correct the pseudo range rho after the calibration zero value correction of the RDSS system, and then the combined zero value error calibration of the incoming and outgoing stations of the system aiming at the RDSS positioning service can be completed.

The invention has the following beneficial effects:

the invention relates to a software calibration method for RDSS system zero value, which realizes calibration and correction of RDSS system zero value error by software calibration only by using the existing RDSS system and monitoring station equipment, and can further improve the positioning, bidirectional timing and unidirectional time service precision of the RDSS system:

1. the adaptability is strong, the calibration can be carried out all weather at any time, and the stable operation of the system is not influenced;

2. the principle is simple, the zero value error calibration precision of the system is high on the premise of ensuring accurate zero value calibration and accurate point location coordinates of the monitoring station receiver equipment, and the service precision of the system can be further improved;

3. the inclusion is strong, and the error tolerance and the self-correction are also realized on other system residual errors except the system zero value error;

4. through test analysis and verification, the zero value calibration method of the system can improve the zero value calibration precision of the RDSS system, and further improve the RDSS positioning, bidirectional timing and unidirectional time service precision;

5. the method overcomes the bottleneck that the RDSS on-line system zero value error cannot be recalibrated without interruption, achieves breakthrough progress, and has application potential and economic benefit.

Drawings

FIG. 1 is a flow chart of the RDSS system zero value software calibration method of the present invention;

FIG. 2 is a schematic diagram of the positioning of the RDSS system;

FIG. 3 is a schematic diagram of a one-way time service of the RDSS system.

Detailed Description

The invention is described in detail below by way of example with reference to the accompanying drawings.

Only the existing RDSS system and monitoring station equipment are utilized, and the zero value error of the RDSS system is calibrated by a software calibration method, so that the stable operation of the system is not influenced, and the service precision of the system can be improved. The monitoring station equipment comprises the following components under the condition of calibrating the zero value of the station access combination of the RDSS system: the monitoring station RDSS locates the receiver. The method can be used for correcting the zero value error of the outgoing and incoming combined operation of the RDSS system and improving the RDSS positioning service precision. Under the condition of respectively calibrating the outbound zero value of the RDSS system and the inbound zero value of the RDSS system, the method further comprises the following steps: the monitoring station RDSS timing time service receiver and the atomic clock with the Beidou system time synchronization function.

RDSS positioning adopts four-range ranging, ranging signals from a central station C->Outbound satellite S_oForwarding->User U goes out of the station and then user U takes charge of>Inbound satellite S_iForwarding->The central station C is inbound (see fig. 2), and the four-range ranging accuracy determines the RDSS location services accuracy. The main factors influencing the RDSS ranging accuracy comprise ionospheric time delay, convection process time delay, earth rotation effect, system zero value and usersAnd end equipment zero values and the like, wherein the user end equipment zero values are calibrated by a user end, and the system zero values are calibrated by a ground central station. From the analysis of the RDSS positioning principle, the system zero values influencing the RDSS positioning service precision comprise a system outbound zero value Z outbound and a system inbound zero value Z_{Docking station}More specifically, the system zero values affecting the RDSS location service are:

Z_{RDSS positioning}＝Z_{Go out of station}+Z_{Docking station} (1)

RDSS two-way timing is based on (see FIG. 2) the same satellite access station four-way ranging C → S_o→U→S_i→ C, the timing principle is based on four-range outbound and inbound pseudo range to calculate outbound path delay C → S_o→ U, analyzed from the RDSS two-way timing principle, the system zero values affecting the RDSS two-way timing service precision include outbound zero values Z outbound and inbound zero values Z inbound, more specifically the system zero values affecting the RDSS two-way timing service are:

Z_{RDSS timing}＝(Z_{Go out of station}-Z_{Docking station})/2 (2)

RDSS one-way time service outbound path (shown in figure 3) calculated based on central station, satellite and user coordinate reference>S->And the distance U is used for calculating the time delay of the time service path in a time delay correction mode on the basis. From the analysis of the RDSS unidirectional time service principle, the system zero value influencing the RDSS unidirectional time service precision only comprises a system outbound zero value Z_{Go out of station}Namely, the system zero value affecting the RDSS unidirectional time service is:

Z_{RDSS time service}＝Z_{Go out of station} (3)

The invention provides a zero value software calibration method of an RDSS system, which comprises the following steps:

step 1, collecting monitoring station RDSS positioning calculation related data output by an RDSS system, wherein the data comprises positioning service application time, a response beam number, a channel number, a pseudo range rho after calibration zero value correction of the RDSS system, satellite ephemeris, ionosphere data and troposphere data, the pseudo range rho after calibration zero value correction of the RDSS system is further completedDelamination delay DT_ionoCorrecting and convecting layer time delay DT_tropCorrection, correction of earth rotation DT_earthAnd correcting, calculating a corrected pseudo range P:

P＝ρ-DT_iono-DT_trop-DT_earth；

step 2, calculating the positioning signal of the monitoring station to go out of the inbound link C → S through the antenna coordinate of the central station, the satellite ephemeris and the coordinate of the positioning receiver of the monitoring station on the premise that the coordinate of the positioning receiver of the monitoring station is known_o→U→S_iThe → C distance, which is used as the calibration reference distance D.

And 3, calculating the zero value errors of different access station combinations of the RDSS system by taking the P-D as the zero value calibration basic data of the access station combinations of the RDSS system, and specifically comprising the following steps:

s301: and comparing and analyzing the corrected pseudo range P with the access link distance D of the RDSS system, and taking the obtained distance D as the access combination zero value calibration basic data of the RDSS system:

dP＝P-D

s302: correcting relative error of system zero values inbound from different devices on the same beam (since beams may be inbound from different channels or different demodulation units, they are collectively referred to as devices), as follows:

if the same wave beam is inbound by adopting different channels, a certain reference channel ch0 is selected, and the pseudo range rho of the inbound of different channels chN of the same wave beam is_chNPseudorange p inbound to the reference channel_ch0Comparison result of (1) ("rho")_chN-ρ_ch0Analyzing and processing to calculate the relative error delta Z of system zero values of different channels inbound in the same beam of the RDSS system_ch(ii) a Calculating the result deltaZ_chFurther correcting rho of the corresponding channel_chNAnd finishing the correction of the relative error of the system zero values inbound from different channels of the same beam. It should be noted that the analyzing and processing means filtering, averaging, fitting, modeling, graphical analysis, or mean square error of the plurality of error values to obtain one error value.

If the same beam is inbound by using different demodulation units, a reference channel c0 is selected to use different demodulation units in the same beamcN inbound pseudorange ρ_cNPseudorange p inbound to the reference channel_c0Comparison result of (1) ("rho")_cN-ρ_c0Analyzing and processing to calculate the relative error delta Z of system zero values of different demodulation units inbound in the same beam of the RDSS system_c(ii) a Calculating the result deltaZ_cFurther modifying rho corresponding to the incoming demodulator unit_cNAnd finishing the correction of the relative error of the system zero values of different demodulation units inbound in the same beam.

S303: on the basis of completing the zero value relative error correction of the same beam different equipment inbound system, a certain inbound reference beam is further selected, and the same beam is outbound and inbound pseudo-range rho of different beams_inbandPseudorange p inbound to reference beam_inband0The difference value of the two beam values is analyzed and processed, and the relative error delta Z of the system zero values of the same beam, the outgoing beam and the incoming beam of the RDSS system are calculated_inband(ii) a Further correcting the computed result for the pseudorange ρ corresponding to the beam inbound_inbandAnd finishing the correction of the relative error of the system zero values of different beam entrances of the same beam exit station.

S304: there are two methods for correcting the relative error of system zero value of different beams of the same satellite:

the method comprises the following steps: on the basis of completing the correction of the zero value relative errors of the inbound systems of different beams and different devices of the same outbound beam, a certain outbound reference beam is further selected, and because the outbound pseudo ranges of different beams of the same satellite are respectively acquired corresponding to different time periods (only one beam is outbound in one time period), the invention firstly carries out outbound pseudo ranges rho of different beams of the same satellite_outbandPseudorange ρ of reference beam outbound_outband0Respectively fitting and modeling, calculating the fitted pseudo-range of different beam-outing stations at the same time point and the fitted pseudo-range of the reference beam-outing station to obtain difference values, and analyzing and processing the difference values corresponding to a plurality of time points to obtain the relative error delta Z of the system zero values of the same satellite and different beam-outing stations of the RDSS system_outband。

Or, obtaining the modified pseudo-range P of different beam outbound from the same satellite, calculating the distance D between the pseudo-range P and the calibration reference distanceDifference value dP between_outband(ii) a Then calculating the difference dP between the corrected pseudo-range P of the reference beam outbound and the calibrated reference distance D_outband0Will dP_outbandAnd dP_outband0Respectively analyzing and processing the signals, and calculating the difference to obtain the relative error delta Z of the system zero values of the same satellite and different beams of the RDSS system_outband(ii) a By δ Z_outbandFurther correcting pseudo range rho corresponding to different beam outbound_outbandAnd finishing the correction of the relative error of the system zero values of different beam outstations.

The second method comprises the following steps: positioning receiver outbound link C → S with monitoring station_o→ U one-way range value, selecting a certain outbound reference beam, comparing the outbound one-way range values of different beams of the same satellite with the outbound one-way range value of the reference beam, analyzing, calculating and calculating the outbound system zero value relative error delta Z of different beams of the RDSS system_outband。

S305: calculating the combined zero value error delta Z of the station entering and the station exiting of the RDSS system of different satellite reference beam outbound and reference beam reference equipment inbound₀：

The method comprises the following steps: on the basis of finishing the correction of the relative error of the system zero values under the outbound of different beams of the same satellite and the inbound links of different devices of different beams of the same satellite, calculating the dP result at the moment, traversing all satellites and obtaining the dP result corresponding to each satellite; analyzing and processing the dP results corresponding to each satellite, and calculating the combined zero value error of the outbound and inbound RDSS system of all satellite reference beams and the inbound of the reference beam reference equipment, wherein the error is the absolute error delta Z of the system zero value under the link₀：

ΔZ₀＝dP。

The second method comprises the following steps: on the basis of completing the correction of relative errors of system zero values of different equipment inbound of the same beam, directly selecting a dP result corresponding to a reference beam outbound reference beam inbound link, traversing all satellites, and obtaining a dP result corresponding to the reference beam outbound reference beam inbound link corresponding to each satellite; analyzing and processing the dP results corresponding to each satellite, and calculating the standard beam outbound and standard beam reference settings of all satellitesThe RDSS system of the standby inbound station combines the zero error of the inbound station and the inbound station, this error is the absolute error Δ Z of the system zero under the link₀：

ΔZ₀＝dP；

S306: the calibration of the combined zero error of the inbound full link RDSS system of each outbound beam and each inbound full link of different equipment comprises two methods:

the method comprises the following steps: combining the inbound and outbound combined null error Δ Z of the RDSS system based on the outbound of the different satellite reference beams and the inbound of the reference beam reference devices calculated in step 305₀Combining the system zero relative error deltaZ of different devices inbound in the same beam calculated in step S302_chanOr δ Z_chRelative error δ Z of system zero values of same beam outbound and different beam inbound of RDSS system_inbandRelative error of zero value δ Z of system outbound from different beams of the same satellite in RDSS system_outbandAnd calculating the combined zero value error delta Z of the station entering and exiting of the RDSS system of the whole inbound link of different equipment of each outbound beam of each beam.

If the same beam is inbound using different channel units:

ΔZ＝ΔZ₀+δZ_chan+δZ_inband+δZ_outband；

if the same beam is inbound with different demodulation units:

ΔZ＝ΔZ₀+δZ_ch+δZ_inband+δZ_outband；

the second method comprises the following steps: on the basis of dP result of finishing system zero value relative error correction of same beam different equipment inbound, respectively selecting dP result corresponding to each beam inbound link of each beam outbound, analyzing and processing, calculating RDSS system inbound and outbound combined zero value error of each beam inbound and outbound, and further demarcating RDSS system inbound and inbound combined zero value error delta Z of each beam inbound and different equipment inbound full link of each beam outbound and different equipment inbound in combination with system zero value relative error of same beam different equipment inbound_{outban out of inbound}：

If the same beam is inbound using different channel units:

ΔZ_{outban in and out}＝dP_{outban out of inbound}+δZ_chan；

If the same beam is inbound with different demodulation units:

ΔZ_{outban out of inbound}＝dP_{outban out of inbound}+δZ_ch

Step 4, calculating the outbound zero value error delta Z of the RDSS system by utilizing the outbound and inbound combined zero value error of the RDSS system and combining the result of the RDSS bidirectional timing error_{Go out of station}The method comprises the following specific steps:

s401: the method comprises the steps of collecting a bidirectional timing result T of a timing receiver of a monitoring station by taking the time of an atomic clock with Beidou system time synchronization as a reference T0_{RDSS timing}And comparing the time with the atomic clock time reference T0 with the time synchronization of the Beidou system to obtain a difference dT_TimingAs calibration basic data of system zero value errors affecting RDSS bidirectional timing service:

dT_timing＝T_{RDSS timing}-T0

S402: to dT_TimingAnalyzing and processing the error data to calculate the system zero value error delta Z affecting the RDSS bidirectional timing service_{RDSS timing}(ii) a This error is related to the difference between the RDSS system outbound zero value and the RDSS system inbound zero value by:

ΔZ_{RDSS timing}＝(ΔZ_{Go out of station}-ΔZ_{Docking station})/2；

Wherein, the analysis and processing means that a plurality of dT are combined_TimingFiltering, averaging, fitting, modeling, graphical analysis or mean variance is carried out to obtain a dT_TimingThe value is obtained.

S403, combining the combined zero value error delta Z of the station entering and exiting of the RDSS system calculated in the step 3, calculating the zero value error delta Z of the station exiting of the RDSS system_{Go out of station}：

ΔZ_{Go out of station}＝(ΔZ+2ΔZ_{RDSS timing})/2；

Step 5, combining the RDSS system inbound and outbound combined zero value error delta Z calculated in step 3 and the RDSS system outbound zero value error delta Z calculated in step 4_{Go out of station}Calculating the RDSS system inbound zero error Z_{Docking station}The method specifically comprises the following steps:

Z_{docking station}＝ΔZ-ΔZ_{Go out of station}；

Step 6, calculating the outbound zero value error delta Z of the RDSS system calculated in the step 4_{Go out of station}And the RDSS system inbound zero error Z calculated in step 5_{Docking station}The method is used for correcting the outbound zero value of the RDSS system and the inbound zero value of the RDSS system, and software calibration aiming at the zero value of the RDSS system can be completed, so that the positioning, timing and time service precision of the RDSS is further improved. The method comprises the following specific steps:

ΔZ_{RDSS positioning}＝ΔZ_{Go out of station}+ΔZ_{Docking station}

ΔZ_{RDSS timing}＝(ΔZ_{Go out of station}-ΔZ_{Docking station})/2；

ΔZ_{RDSS time service}＝ΔZ_{Go out of station}；

Step 7, calculating the outbound zero value error delta Z of the RDSS system by utilizing the RDSS unidirectional time service result_{Go out of station}Further evaluating the RDSS system outbound zero error Δ Z calculated in step 4_{Go out of station}The correctness of the results is specifically as follows:

s701: the method comprises the steps of collecting a one-way time service result T of a timing time service receiver of a monitoring station by taking the time of an atomic clock with Beidou system time synchronization as a reference T0_{RDSS time service}And comparing the time with the atomic clock time reference T0 with the time synchronization of the Beidou system to calculate the RDSS one-way time service error dT_{RDSS time service}；

dT_{RDSS time service}＝T_{RDSS time service}-T0；

S702: with dT_{RDSS time service}For calibrating the basic data, dT is evaluated_{RDSS time service}Estimating system zero value error dZ influencing one-way time service of RDSS system_{RDSS time service}The estimation value of the system outbound zero value error calibration is specifically as follows:

ΔZ_{go out of station}＝dZ_{RDSS time service}；

S703: the result of S702 is compared with the result calculated in step 4, so as to further evaluate the correctness of the calculated result of the outbound zero-value error of the RDSS system.

Wherein, step 7, unidirectional feed is performed by using RDSSTime result calculation RDSS system outbound zero value error delta Z_{Go out of station}The calibrated result may be used instead of step 4 as an alternative to calculating Δ Z_{Go out of station}A method.

And 3, the calculated RDSS system in-out station combined zero value error delta Z can also be directly used for correcting the pseudo range rho after the RDSS system calibration zero value correction, and the system in-out station combined zero value error calibration aiming at the RDSS positioning service can be completed, so that the RDSS positioning service precision is further improved.

In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (14)

1. The calibration method for the RDSS system zero value is characterized by comprising the following steps:

   step 1, calibrating a pseudo range rho after zero value correction by an RDSS system, and further defining the pseudo range after ionosphere time delay correction, troposphere time delay correction and earth autorotation correction as a pseudo range P;

   step 2, getting in and out a monitoring station positioning signal of the RDSS system through a link C → S_o→U→S_iThe → C distance serves as the calibration reference distance D; wherein, C → S_o→U→S_i→ C denotes ranging signal from the central station C to the outbound satellite S_oTo the user U, and then to the inbound satellite S_iForward, last inbound link by central station C;

   and 3, calculating the combined zero value error of different access stations of the RDSS system, and specifically comprising the following steps:

   s301: defining dP-D as RDSS system access station combination zero value calibration basic data;

   s302: correcting relative error delta Z of zero values of different equipment inbound systems in the same beam_equi(ii) a Wherein the device is a channel or a demodulation unit;

   s303: based on finishing the correction of the relative error of zero values of different equipment inbound systems in the same beamFurther selecting a certain inbound reference beam, and outbound the same beam to different inbound pseudo-ranges rho_inbandPseudorange p inbound to reference beam_inband0The difference value of the two beam values is analyzed and processed, and the relative error delta Z of the system zero values of the same beam, the outgoing beam and the incoming beam of the RDSS system are calculated_inband(ii) a Further correcting the computed result for the pseudorange ρ corresponding to the beam inbound_inbandAnd finishing the correction of the relative error of the system zero values of different beam entrances of the same beam exit station.

   S304: correcting relative error delta Z of system zero values of different wave beams outbound from the same satellite_outband；

   S305: calculating the combined zero value error delta Z of the station entering and the station exiting of the RDSS system of different satellite reference beam outbound and reference beam reference equipment inbound₀：

   S306: calibrating the inbound and outbound combined zero value error delta Z of the RDSS system of the inbound full link of each different device of each outbound beam;

   step 4, calculating the outbound zero value error delta Z of the RDSS system_{Go out of station}；

   Step 5, combining the RDSS system inbound and outbound combined zero value error delta Z calculated in step 3 and the RDSS system outbound zero value error delta Z calculated in step 4_{Go out of station}Calculating the RDSS system inbound zero error Z_{Docking station}The method specifically comprises the following steps:

   Z_{docking station}＝ΔZ-ΔZ_{Go out of station}；

   Step 6, calculating the outbound zero value error delta Z of the RDSS system calculated in the step 4_{Go out of station}And the RDSS system inbound zero error Z calculated in step 5_{Docking station}And when the method is used for correcting the outbound zero value of the RDSS system and the inbound zero value of the RDSS system, the calibration aiming at the zero value of the RDSS system can be completed:

   ΔZ_{RDSS positioning}＝ΔZ_{Go out of station}+ΔZ_{Docking station}

   ΔZ_{RDSS timing}＝(ΔZ_{Go out of station}-ΔZ_{Docking station})/2；

   ΔZ_{RDSS time service}＝ΔZ_{Go out of station}。
2. 2. The RDSS system zero value calibration method of claim 1, wherein in S302, when the device is a channel:

   selecting a certain reference channel ch0, and inputting pseudo range rho of different channels chN of the same wave beam_chNPseudorange p inbound to the reference channel_ch0Comparison result of (1) ("rho")_chN-ρ_ch0Analyzing and processing to calculate the relative error delta Z of system zero values of different channels inbound in the same beam of the RDSS system_ch(ii) a Calculating the result deltaZ_chFurther correcting rho of the corresponding channel_chNAnd finishing the correction of the relative error of the system zero values inbound from different channels of the same beam.
3. 3. The RDSS system zero value calibration method of claim 1, wherein in S302, when the device is a demodulation unit:

   selecting a reference channel c0, and inputting pseudo range rho of different demodulation units cN of the same beam_cNPseudorange p inbound to the reference channel_c0Comparison result of (1) ("rho")_cN-ρ_c0Analyzing and processing to calculate the relative error delta Z of system zero values of different demodulation units inbound in the same beam of the RDSS system_c(ii) a Calculating the result deltaZ_cAnd further correcting the pseudo range corresponding to the inbound of the demodulation unit to finish the correction of the relative error of the system zero value inbound of different demodulation units of the same beam.
4. 4. The RDSS system null calibration method of claim 1, wherein in S304, the system null relative error δ Z for different beam-outs of the same satellite is corrected_outbandThe method comprises the following steps:

   on the basis of completing the zero value relative error correction of the different equipment inbound systems of the same outbound wave beam and the different wave beams, a certain outbound reference wave beam is further selected, and the outbound pseudo range rho of the same satellite and the different wave beams is processed_outbandPseudorange ρ of reference beam outbound_outband0Respectively fitting and modeling, and then calculating the difference value between the fitted pseudo-range of different beam outstations and the fitted pseudo-range of the reference beam outstations at the same time pointThen, the difference values corresponding to a plurality of time points are analyzed and processed to obtain the system zero value relative error delta Z of the same satellite of the RDSS system and different beam outstations_outband。
5. 5. The RDSS system null calibration method of claim 1, wherein in S304, the system null relative error δ Z for different beam-outs of the same satellite is corrected_outbandThe method comprises the following steps:

   firstly, obtaining the corrected pseudo range P of different wave beams of the same satellite, calculating the difference dP between the pseudo range P and the calibration reference distance D_outband(ii) a Then calculating the difference dP between the corrected pseudo-range P of the reference beam outbound and the calibrated reference distance D_outband0Will dP_outbandAnd dP_outband0Respectively analyzing and processing the signals, and calculating the difference to obtain the relative error delta Z of the system zero values of the same satellite and different beams of the RDSS system_outband(ii) a By δ Z_outbandAnd further correcting pseudo ranges corresponding to different beam outstations, and finishing the correction of system zero value relative errors of different beam outstations.
6. 6. The RDSS system null calibration method of claim 1, wherein in S304, the system null relative error δ Z for different beam-outs of the same satellite is corrected_outbandThe method comprises the following steps:

   positioning receiver outbound link C → S with monitoring station_o→ U one-way range value, selecting a certain outbound reference beam, comparing the outbound one-way range values of different beams of the same satellite with the outbound one-way range value of the reference beam, analyzing, calculating and calculating the outbound system zero value relative error delta Z of different beams of the RDSS system_outband(ii) a Wherein C → S_o→ U denotes the satellite S from the central station C to the outbound satellite_oForwarded and then to the outbound link of user U.
7. 7. The RDSS system null calibration method of claim 1, wherein in S305, different beams are outbound from the same satellite and different beams are outbound from the same satelliteOn the basis of correcting the relative error of a system zero value under the equipment inbound link, calculating the dP result at the moment, and traversing all satellites to obtain the dP result corresponding to each satellite; analyzing and processing the dP results corresponding to all satellites, and calculating the combined zero value error of the outbound RDSS system and the inbound RDSS system of the reference beam reference equipment of all satellites, wherein the error is the absolute error delta Z of the system zero value under the link₀：

   ΔZ₀＝dP。
8. 8. The RDSS system null calibration method according to claim 1, wherein in S305, on the basis of completing the relative error correction of the system null inbound for different devices on the same beam, the dP result corresponding to the inbound link of the reference beam outbound reference beam is directly selected, and all satellites are traversed to obtain the dP result corresponding to the inbound link of the reference beam outbound reference beam corresponding to each satellite; analyzing and processing the dP results corresponding to all satellites, and calculating the combined zero value error delta Z of the station access of the RDSS system for the outbound of all satellite reference beams and the inbound of the reference beam reference equipment₀：

   ΔZ₀＝dP。
9. 9. The RDSS system zero-value calibration method according to claim 1, wherein in S306, the RDSS system inbound and outbound combined zero-value error Δ Z is calculated by:

   ΔZ＝ΔZ₀+δZ_equi+δZ_inband+δZ_outband。
10. 10. the RDSS system zero-value calibration method according to claim 1, wherein in S306, the RDSS system inbound and outbound combined zero-value error Δ Z is calculated by:

    ΔZ_{outban out of inbound}＝dP_{outban out of inbound}+δZ_equi。
11. 11. The RDSS system zero value calibration method according to claim 1, wherein the specific method in step 4 is as follows:

    s401: the method comprises the steps of collecting a bidirectional timing result T of a timing receiver of a monitoring station by taking the time of an atomic clock with Beidou system time synchronization as a reference T0_{RDSS timing}And comparing the time with the atomic clock time reference T0 with the time synchronization of the Beidou system to obtain a difference dT_TimingAs calibration basic data of system zero value errors affecting RDSS bidirectional timing service:

    dT_timing＝T_{RDSS timing}-T0；

    S402: for all dT_TimingAnalyzing and processing to obtain a dT_TimingValue as a systematic zero error Δ Z affecting RDSS two-way timing services_{RDSS timing}：

    ΔZ_{RDSS timing}＝(ΔZ_{Go out of station}-ΔZ_{Docking station})/2；

    S403, combining the combined zero value error delta Z of the station entering and exiting of the RDSS system calculated in the step 3, calculating the zero value error delta Z of the station exiting of the RDSS system_{Go out of station}：

    ΔZ_{Go out of station}＝(ΔZ+2ΔZ_{RDSS timing})/2。
12. 12. The RDSS system zero value calibration method according to claim 1, wherein the specific method in step 4 is as follows:

    s701: the method comprises the steps of collecting a one-way time service result T of a timing time service receiver of a monitoring station by taking the time of an atomic clock with Beidou system time synchronization as a reference T0_{RDSS time service}And comparing the time with the atomic clock time reference T0 with the time synchronization of the Beidou system to calculate the RDSS one-way time service error dT_{RDSS time service}；

    dT_{RDSS time service}＝T_{RDSS time service}-T0；

    S702: to dT_{RDSS time service}Analyzing and processing, wherein the obtained value is used as an estimated value of the system outbound zero value error calibration, and the method specifically comprises the following steps:

    ΔZ_{go out of station}＝dZ_{RDSS time service}。
13. 13. A method of calibrating a value of an RDSS system as claimed in any one of claims 1 to 12, wherein said analyzing and processing is by filtering, averaging, fitting, modeling, graphical analysis or mean square error processing a plurality of values into one value.
14. 14. A positioning method based on the RDSS system zero value calibration method of claim 1, wherein the RDSS system inbound and outbound combined zero value error δ Z calculated in step 3 is directly used for correcting the RDSS system calibration zero value corrected pseudo range ρ, and system inbound and outbound combined zero value error calibration for RDSS positioning service can be completed.

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