CN113009519B - Software calibration method for RDSS system zero value - Google Patents

Software calibration method for RDSS system zero value Download PDF

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CN113009519B
CN113009519B CN202110172551.6A CN202110172551A CN113009519B CN 113009519 B CN113009519 B CN 113009519B CN 202110172551 A CN202110172551 A CN 202110172551A CN 113009519 B CN113009519 B CN 113009519B
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rdss
outbound
inbound
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different
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CN113009519A (en
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曲江华
袁洪
杨光
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Aerospace Information Research Institute of CAS
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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
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
    • G01S19/235—Calibration of receiver components
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The invention provides a software calibration method for RDSS system zero value, which only uses the existing RDSS system and monitoring station equipment to realize the calibration and correction of RDSS system zero value error in a software calibration mode, 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 performed all the time, and the stable operation of the system is not affected; the principle is simple, and on the premise of ensuring that the zero value calibration of the receiver equipment of the monitoring station is accurate and the point position coordinates are accurate, the zero value error calibration accuracy of the system is high, and the service accuracy of the system can be further improved; the inclusion is strong, and the error tolerance and self-rightness are also provided for other system residual errors except the system zero value error; by experimental analysis and verification, the system zero value calibration method can improve the RDSS system zero value calibration precision, thereby improving 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 software calibration method of an RDSS (remote data storage system).
Background
The accuracy of RDSS system zero calibration directly affects the RDSS positioning, bidirectional timing and one-way time service performance, the traditional RDSS system zero calibration adopts a hardware zero calibration method, the hardware zero calibration method needs to be completed under the condition that equipment does not work, and usually, calibration and input are completed at one time before the system is serviced, so that the system is used as an in-service system for providing service for the outside without interruption, and the signal cannot be cut off to recalibrate the system zero.
The RDSS system zero value has slow drift, the current RDSS system zero value has errors, the system service accuracy is affected to a certain extent, the service accuracy deterioration problem is gradually obvious due to zero value problems along with the lengthening of the system operation time and the gradual aging of RDSS system equipment, the on-line operation RDSS system zero value is required to be calibrated, and an available means for on-line calibration of the system zero value is lacking at present.
Disclosure of Invention
The invention aims to solve the technical problem that the zero value of an RDSS running system has errors, and the adopted hardware zero value calibration method cannot recalibrate the zero value of the system 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 zero value calibration precision 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 calibration method of the RDSS system zero value comprises the following steps:
step 1, defining pseudo-range P after calibrating zero value correction by RDSS system, and further finishing ionosphere time delay correction, convection layer time delay correction and earth rotation correction as pseudo-range P;
step 2, entering and exiting links C-S of positioning signals of monitoring stations of RDSS system o →U→S i The distance C is taken as a standard reference distance D; wherein C.fwdarw.S o →U→S i C represents ranging signals from the central station C to the outbound satellite S o To the user U, and from the user U to the inbound satellite S i Forwarding, and finally, inbound links from the central station C;
step 3, calculating different access combination zero value errors of the RDSS system, wherein the specific steps are as follows:
s301: defining dp=p-D as RDSS system outbound combined zero value calibration base data;
s302: correcting zero relative error delta Z of inbound systems of different devices of the same wave beam equi The method comprises the steps of carrying out a first treatment on the surface of the Wherein the device is a channel or demodulation unit;
s303: on the basis of finishing zero relative error correction of the inbound systems of different devices of the same beam, a certain inbound reference beam is further selected, and the pseudo range rho of the same beam in the inbound of different beams is obtained inband Pseudo-range p with reference beam inbound inband0 Analyzing and processing the difference value of the (B) and calculating the system zero value relative error delta Z of the same beam outlet and different beam inlets of the RDSS system inband The method comprises the steps of carrying out a first treatment on the surface of the Further correcting the calculated result to obtain pseudo range rho of the corresponding beam station inband And finishing correction of the systematic null relative error of the same beam and different beam inbound.
S304: correcting system zero value relative error delta Z of different wave beam outbound of same satellite outband ；
S305: calculating the RDSS system outbound combined null error delta Z of different satellite reference beam outbound and reference beam reference equipment inbound 0 ：
S306: calibrating the RDSS system access combination zero value error delta Z of each beam outbound and each different equipment inbound full link;
step 4, calculating the outbound zero value error delta Z of the RDSS system Outbound station ；
Step 5, combining the RDSS system 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 Outbound station Calculating inbound zero value error Z of RDSS system Inbound station The method specifically comprises the following steps:
Z inbound station ＝ΔZ-ΔZ Outbound station ；
Step 6, the RDSS system outbound zero value error delta Z calculated in the step 4 is calculated Outbound station And the RDSS system inbound zero value error Z calculated in step 5 Inbound station The calibration of RDSS system zeros may be accomplished by modifying RDSS system outbound zeros and RDSS system inbound zeros:
ΔZ RDSS positioning ＝ΔZ Outbound station +ΔZ Inbound station
ΔZ RDSS timing ＝(ΔZ Outbound station -ΔZ Inbound station )/2；
ΔZ RDSS time service ＝ΔZ Outbound station 。
Preferably, in the step S302, when the device is a channel:
selecting a certain reference channel ch0, and taking pseudo-range rho of the same wave beam and different channels chN for station chN Pseudo distance ρ with reference channel inbound ch0 Is compared with the result ρ of the comparison chN -ρ ch0 Analyzing and processing, and calculating system zero value relative error delta Z of the same beam and different channel inbound of the RDSS system ch The method comprises the steps of carrying out a first treatment on the surface of the Calculate the result deltaZ ch Further correcting p of corresponding channel chN And finishing correction of the systematic zero value relative error of the same beam and different channel inbound.
Preferably, in S302, when the device is a demodulation unit:
selecting a reference channel c0 to transmit the pseudo-range ρ of the same wave beam to the different demodulation units cN cN Pseudo distance ρ with reference channel inbound c0 Is compared with the result ρ of the comparison cN -ρ c0 Analyzing and processing, and calculating the system zero value relative error delta Z of the same beam and different demodulation units of the RDSS system c The method comprises the steps of carrying out a first treatment on the surface of the The calculated result delta Z c And further correcting the pseudo range of the station corresponding to the demodulation unit to finish the correction of the system null value relative error of the station of the same wave beam different demodulation units.
Preferably, in the step S304, the system null relative error delta Z of the same satellite and different beam outbound is corrected outband The method of (1) is as follows: on the basis of finishing zero relative error correction of the inbound systems of different devices of different beams of the same beam outbound, a certain outbound reference beam is further selected, and pseudo-range rho of different beams of the same satellite is firstly obtained outband Pseudo range ρ of reference beam outbound outband0 Fitting and modeling respectively, calculating the difference between the fitted pseudo-ranges of different beam outbound stations at the same time point and the fitted pseudo-ranges of the reference beam outbound stations, and analyzing and processing the difference values corresponding to a plurality of time points to obtain the system zero value relative error delta Z of different beam outbound stations of the same satellite of the RDSS system outband 。
Preferably, in the step S304, the system null relative error delta Z of the same satellite and different beam outbound is corrected outband The method of (1) is as follows:
firstly, corrected pseudo-ranges P of different wave beam outbound stations of the same satellite are obtained, and a difference dP between the corrected pseudo-ranges P and a calibration reference distance D is calculated outband The method comprises the steps of carrying out a first treatment on the surface of the Then calculates the difference dP between the corrected pseudo-range P of the reference beam outbound and the calibrated reference range D outband0 Will dP outband And dP outband0 Respectively analyzing and processing, and calculating the difference value to obtain the same satellite of the RDSS systemSystem null relative error δZ for different beam outbound outband The method comprises the steps of carrying out a first treatment on the surface of the By delta Z outband And further correcting pseudo-ranges corresponding to different beam outlets to finish the correction of the system zero value relative errors of different beam outlets.
Preferably, in the step S304, the system null relative error delta Z of the same satellite and different beam outbound is corrected outband The method of (1) is as follows:
positioning receiver outbound links C-S using monitoring station o The U one-way ranging value is selected, one-way ranging values of different beam outbound of the same satellite are compared with the one-way ranging values of the reference beam outbound, analysis processing is carried out, and the system zero value relative error delta Z of different beam outbound of the RDSS system is calculated outband The method comprises the steps of carrying out a first treatment on the surface of the Wherein C.fwdarw.S o U represents the distance from the central station C to the outbound satellite S o And forwarded and then to the outbound link of user U.
Preferably, in S305, on the basis of completing correction of system zero value relative error under different beam outbound of the same satellite and different beam inbound links of different devices of the same satellite, calculating the dP result at that time, and traversing all satellites to obtain the dP result corresponding to each satellite; analyzing and processing dP results corresponding to each satellite, and calculating the RDSS system outbound-inbound combined zero-value error of all satellite reference beam outbound and reference beam reference equipment inbound, wherein the error is the absolute error delta Z of the system zero value under the link 0 ：
ΔZ 0 ＝dP。
Preferably, in S305, on the basis of completing correction of system null relative errors of inbound of different devices of the same beam, dP results corresponding to the reference beam outbound reference beam inbound links are directly selected, and all satellites are traversed to obtain dP results corresponding to the reference beam outbound reference beam inbound links corresponding to each satellite; analyzing and processing dP results corresponding to each satellite, and calculating the RDSS system outbound-inbound combined zero value error delta Z of all satellite reference beam outbound and reference beam reference equipment inbound 0 ：
ΔZ 0 ＝dP。
Preferably, in S306, the method for calculating the access combination zero value error Δz of the RDSS system is as follows:
ΔZ＝ΔZ 0 +δZ equi +δZ inband +δZ outband 。
preferably, in S306, the method for calculating the access combination zero value error Δz of the RDSS system is as follows:
ΔZ outban out of band in ＝dP outban out of band in +δZ equi 。
Preferably, the specific method in the step 4 is as follows:
s401: taking atomic clock time with Beidou system time synchronization as a reference T0, and collecting a bidirectional timing result T of a timing and timing receiver of a monitoring station RDSS timing Performing time comparison and difference dT with atomic clock time reference T0 with Beidou system time synchronization Timing of As calibration base data for systematic zero-value errors affecting RDSS bidirectional timing services:
dT timing of ＝T RDSS timing -T0；
S402: for all dT Timing of Analyzing and processing to obtain a dT Timing of Value as systematic zero value error ΔZ affecting RDSS bi-directional timing service RDSS timing ：
ΔZ RDSS timing ＝(ΔZ Outbound station -ΔZ Inbound station )/2；
S403, combining the RDSS system outbound combined zero value error delta Z calculated in the step 3, and calculating the RDSS system outbound zero value error delta Z Outbound station ：
ΔZ Outbound station ＝(ΔZ+2ΔZ RDSS timing )/2。
Preferably, the specific method in the step 4 is as follows:
s701: taking atomic clock time with Beidou system time synchronization as a reference T0, and collecting a unidirectional time service result T of a timing time service receiver of a monitoring station RDSS time service Comparing the time with an atomic clock time reference T0 with Beidou system time synchronization, and calculating RDSS unidirectional time service error dT RDSS time service ；
dT RDSS time service ＝T RDSS time service -T0；
S702: para dT RDSS time service Analyzing and processing, wherein the obtained value is used as an estimated value of system outbound zero value error calibration, and specifically comprises the following steps:
ΔZ outbound station ＝dZ RDSS time service 。
Preferably, the analysis and processing are filtering, averaging, fitting, modeling, graph analysis or mean square error, and the plurality of values are processed into one value.
A positioning method of an RDSS system utilizes the RDSS system outbound combined zero value error delta Z calculated in the step 3 to be directly used for correcting a pseudo range rho after the RDSS system calibration zero value correction, and the system outbound combined zero value error calibration aiming at RDSS positioning service can be completed.
The invention has the following beneficial effects:
the software calibration method for the RDSS system zero value only utilizes the existing RDSS system and monitoring station equipment, realizes the calibration and correction of the RDSS system zero value error in a software calibration mode, and can further improve the service precision of positioning, bidirectional timing and unidirectional time service of the RDSS system:
1. the adaptability is strong, the calibration can be performed all the time, and the stable operation of the system is not affected;
2. the principle is simple, and on the premise of ensuring that zero calibration of the receiver equipment of the monitoring station is accurate and the point position coordinates are accurate, the zero error calibration accuracy of the system is high, so that the service accuracy of the system can be further improved;
3. the inclusion is strong, and the error tolerance and self-rightness are also provided for other system residual errors except the system zero value error;
4. by experimental analysis and verification, the system zero value calibration method can improve the RDSS system zero value calibration precision, thereby improving the RDSS positioning, bidirectional timing and unidirectional time service precision;
5. the invention overcomes the bottleneck that the RDSS on-line system zero value error cannot be recalibrated without interruption, and has breakthrough progress, application potential and economic benefit.
Drawings
FIG. 1 is a flow chart of a method for calibrating software of RDSS system zero according to the present invention;
FIG. 2 is a diagram of the positioning principle of the RDSS system;
fig. 3 is a schematic diagram of a unidirectional timing scheme of an RDSS system.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
The zero value error of the RDSS system is calibrated by a software calibration method only by using the existing RDSS system and monitoring station equipment, so that the stable operation of the system is not affected, and the service precision of the system can be improved. The monitoring station equipment comprises: the monitoring station RDSS locates the receiver. The method can be used for correcting the zero value error of the access combination of the RDSS system and improving the accuracy of RDSS positioning service. In the case of calibrating the RDSS system outbound zero value and the RDSS system inbound zero value separately, the method further comprises: the monitoring station RDSS timing time service receiver is provided with an atomic clock with Beidou system time synchronization.
RDSS positioning adopts four-range ranging, ranging signal from central station C->Outbound satellite S o Forwarding->The user U leaves the station and is served by the user U->Inbound satellite S i Forwarding->The hub C inbound (see fig. 2) determines the RDSS positioning service accuracy with four-pass ranging accuracy. The main factors influencing RDSS distance measurement accuracy comprise ionosphere time delay, flow time delay, earth rotation effect, system zero value, user equipment zero value and the like, wherein the user equipment zero value is calibrated by a user machine side, and the system zero value is calibrated by a ground central station. From RDSS location principle analysis, system zeros that affect RDSS location service accuracy include system outbound zeros Z out and system inbound zeros Z out Inbound station More specifically, the system zero values affecting the RDSS location services are:
Z RDSS positioning ＝Z Outbound station +Z Inbound station (1)
RDSS two-way timing is based on the same satellite outbound and inbound four-range ranging C.fwdarw.S (see FIG. 2) o →U→S i C, the timing principle is based on four-way access pseudo-range to calculate the station path delay C-S o From the analysis of the RDSS bidirectional timing principle, system zeros affecting the accuracy of the RDSS bidirectional timing service include outbound zeros Zoutbound and inbound zeros Zinbound, more specifically, system zeros affecting the RDSS bidirectional timing service are:
Z RDSS timing ＝(Z Outbound station -Z Inbound station )/2 (2)
RDSS unidirectional time service based on central station, satellite, user coordinate reference calculation of the outbound path (see figure 3) C->S->And the U distance is used for calculating the time delay of the time service path in a time delay correction mode on the basis. From RDSS unidirectional time service principle analysis, the system zero value affecting RDSS unidirectional time service precision only comprises a system outbound zero value Z Outbound station I.e., the system zero values affecting the RDSS unidirectional time service are:
Z RDSS time service ＝Z Outbound station (3)
The invention provides a method for calibrating zero software of an RDSS system, which comprises the following steps:
step 1, acquiring monitoring station RDSS positioning calculation related data output by an RDSS system, wherein the monitoring station RDSS positioning calculation related data comprises positioning service application time, response beam number, channel number, pseudo range rho corrected by RDSS system calibration zero value, satellite ephemeris, ionosphere data and troposphere data, and further finishing ionosphere time delay DT by the pseudo range rho corrected by RDSS system calibration zero value iono Correction of the time delay DT of the convection layer trop Correction, earth rotation correction DT earth Correcting, namely calculating a corrected pseudo range P:
P＝ρ-DT iono -DT trop -DT earth ；
step 2, calculating a monitoring station positioning signal output-input link C-S through the central station antenna coordinates, satellite ephemeris and monitoring station positioning receiver coordinates on the premise that the monitoring station positioning receiver coordinates are known o →U→S i And C, taking the distance as a calibration reference distance D.
Step 3, taking P-D as the output-input combined zero value calibration basic data of the RDSS system, and calculating different output-input combined zero value errors of the RDSS system, wherein the specific steps are as follows:
s301: comparing and analyzing the corrected pseudo range P with the RDSS system access link distance D to serve as RDSS system access combination zero value calibration basic data:
dP＝P-D
s302: the correction of the same beam and different equipment inbound systematic null relative errors (both are collectively referred to as equipment because the beams may be inbound by different channels or different demodulation elements) is performed as follows:
if the same beam adopts different channels for station input, a certain reference channel ch0 is selected, and the pseudo range rho of the same beam of different channels chN for station input is calculated chN Pseudo-range p with reference channel inbound ch0 Is compared with the result ρ of the comparison chN -ρ ch0 Analyzing and processing, and calculating the system zero value relative error delta Z of the same beam and different channel inbound of the RDSS system ch The method comprises the steps of carrying out a first treatment on the surface of the The calculated result delta Z ch Further correcting p of corresponding channel chN And finishing correction of the systematic zero value relative error of the same beam and different channel inbound. It should be noted that, analysis and processing means that filtering, averaging, fitting, modeling, graphic analysis or mean square error are performed on a plurality of error values to obtain an error value.
If the same wave beam is input by different demodulation units, a certain reference channel c0 is selected, and the pseudo range rho of the same wave beam which is input by different demodulation units cN is input cN Pseudo-range p with reference channel inbound c0 Is compared with the result ρ of the comparison cN -ρ c0 Analyzing and processing, and calculating the system zero value relative error delta Z of the same beam and different demodulation units of the RDSS system c The method comprises the steps of carrying out a first treatment on the surface of the The calculated result delta Z c Further correcting p of the incoming station of the corresponding demodulation unit cN And finishing correction of the systematic null relative errors of the same wave beam and different demodulation units.
S303: on the basis of finishing zero relative error correction of different equipment inbound systems of the same wave beam, a certain inbound reference wave beam is further selected, and the same wave is usedPseudo-range ρ for beam-out and beam-in of different beams inband Pseudo-range p with reference beam inbound inband0 Analyzing and processing the difference value of the (B) and calculating the system zero value relative error delta Z of the same beam outlet and different beam inlets of the RDSS system inband The method comprises the steps of carrying out a first treatment on the surface of the Further correcting the calculated result to obtain pseudo range rho of the corresponding beam station inband And finishing correction of the systematic null relative error of the same beam and different beam inbound.
S304: the system zero value relative error of different beam outbound of the same satellite is corrected by two methods:
the method comprises the following steps: based on finishing the zero relative error correction of the same beam outbound different beam different equipment inbound system, a certain outbound reference beam is further selected, and because the pseudo ranges of the same satellite different beam outbound are acquired respectively corresponding to different time periods (only one beam outbound in one time period), the invention firstly carries out the pseudo range ρ of the same satellite different beam outbound outband Pseudo range ρ of reference beam outbound outband0 Fitting and modeling respectively, calculating the difference between the fitted pseudo-ranges of different beam outbound stations at the same time point and the fitted pseudo-ranges of the reference beam outbound stations, and analyzing and processing the difference values corresponding to a plurality of time points to obtain the system zero value relative error delta Z of different beam outbound stations of the same satellite of the RDSS system outband 。
Or, firstly obtaining corrected pseudo-ranges P of different wave beam outbound stations of the same satellite, and calculating a difference dP between the corrected pseudo-ranges P and a calibration reference distance D outband The method comprises the steps of carrying out a first treatment on the surface of the Then calculates the difference dP between the corrected pseudo-range P of the reference beam outbound and the calibrated reference range D outband0 Will dP outband And dP outband0 Respectively analyzing and processing, and calculating the difference value to obtain the system zero value relative error delta Z of the same satellite and different beam outbound stations of the RDSS system outband The method comprises the steps of carrying out a first treatment on the surface of the By delta Z outband Further correcting pseudo range rho corresponding to different wave beam outbound outband And finishing the correction of the system zero value relative errors of different beam outbound stations.
The second method is as follows: positioning receiver outbound links C-S using monitoring station o U unidirectionalThe ranging value is selected, one outbound reference beam is selected, the one-way ranging values of different beam outbound of the same satellite are compared with the one-way ranging values of the reference beam outbound, analysis processing is carried out, and the system zero value relative error delta Z of different beam outbound of the RDSS system is calculated and calculated outband 。
S305: calculating the RDSS system outbound combined null error delta Z of different satellite reference beam outbound and reference beam reference equipment inbound 0 ：
The method comprises the following steps: calculating dP results at the moment on the basis of finishing the correction of the system zero value relative errors under the outbound of different beams of the same satellite and inbound links of different equipment of different beams of the same satellite, and traversing all satellites to obtain the dP results corresponding to all satellites; analyzing and processing dP results corresponding to each satellite, and calculating the RDSS system outbound-inbound combined zero-value error of all satellite reference beam outbound and reference beam reference equipment inbound, wherein the error is the absolute error delta Z of the system zero value under the link 0 ：
ΔZ 0 ＝dP。
The second method is as follows: directly selecting dP results corresponding to the reference beam inbound links of the reference beam outbound based on finishing the correction of the system zero value relative errors of the inbound of different devices of the same beam, traversing all satellites, and obtaining dP results corresponding to the reference beam outbound reference beam inbound links corresponding to all satellites; analyzing and processing dP results corresponding to satellites, and calculating all satellite reference beam outbound and RDSS system outbound combined zero-value errors of reference beam reference equipment inbound, wherein the errors are absolute errors delta Z of system zero values under the link 0 ：
ΔZ 0 ＝dP；
S306: the RDSS system access combination zero value error calibration of each beam outbound and each different equipment inbound full link has two methods:
the method comprises the following steps: based on the calculated RDSS system outbound-inbound combined null error ΔZ of step 305 for different satellite reference beam outbound and reference beam reference equipment inbound 0 System for different equipment inbound of same wave beam calculated in step S302Zero value relative error δZ chan Or delta Z ch System null relative error delta Z for inbound of same beam outbound and different beams of RDSS system inband System zero value relative error delta Z of different wave beam outbound of same satellite of RDSS system outband And calculating the RDSS system outbound combined zero value error delta Z of each beam outbound and each inbound full link of each different device.
If the same beam is inbound with different channel elements:
ΔZ＝ΔZ 0 +δZ chan +δZ inband +δZ outband ；
if the same beam is inbound with different demodulation elements:
ΔZ＝ΔZ 0 +δZ ch +δZ inband +δZ outband ；
the second method is as follows: on the basis of finishing the dP result of system zero value relative error correction of the same beam and different equipment inbound, respectively selecting the dP result corresponding to each beam inbound link of each beam outbound, analyzing and processing, calculating the RDSS system inbound and outbound combined zero value error of each beam outbound and each beam inbound, and further calibrating the RDSS system inbound and outbound combined zero value error delta Z of each beam inbound and different equipment inbound all links of each beam outbound by combining the system zero value relative error of the same beam and different equipment inbound outban out of band in ：
If the same beam is inbound with different channel elements:
ΔZ outban out of band in ＝dP outban out of band in +δZ chan ；
If the same beam is inbound with different demodulation elements:
ΔZ outban out of band in ＝dP outban out of band in +δZ ch
Step 4, calculating an outbound zero value error delta Z of the RDSS system by utilizing the outbound combined zero value error of the RDSS system and combining the RDSS bidirectional timing error result Outbound station The method comprises the following specific steps:
s401: taking atomic clock time with Beidou system time synchronization as reference T0, and collecting and monitoringBidirectional timing result T of station timing time service receiver RDSS timing Performing time comparison and difference dT with atomic clock time reference T0 with Beidou system time synchronization Timing of As calibration base data for systematic zero-value errors affecting RDSS bidirectional timing services:
dT timing of ＝T RDSS timing -T0
S402: para dT Timing of Analyzing, processing and calculating system zero value error delta Z affecting RDSS bidirectional timing service RDSS timing The method comprises the steps of carrying out a first treatment on the surface of the This error is related to the difference between the RDSS system outbound zero and the RDSS system inbound zero, specifically:
ΔZ RDSS timing ＝(ΔZ Outbound station -ΔZ Inbound station )/2；
Wherein, the analysis and the processing refer to the combination of a plurality of dT Timing of Filtering, averaging, fitting, modeling, graph analysis or mean variance to obtain a dT Timing of Values.
S403, combining the RDSS system outbound combined zero value error delta Z calculated in the step 3, and calculating the RDSS system outbound zero value error delta Z Outbound station ：
ΔZ Outbound station ＝(ΔZ+2ΔZ RDSS timing )/2；
Step 5, combining the RDSS system 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 Outbound station Calculating inbound zero value error Z of RDSS system Inbound station The method specifically comprises the following steps:
Z inbound station ＝ΔZ-ΔZ Outbound station ；
Step 6, the RDSS system outbound zero value error delta Z calculated in the step 4 is calculated Outbound station And the RDSS system inbound zero value error Z calculated in step 5 Inbound station The software calibration for RDSS system zero values can be completed by correcting RDSS system outbound zero values and RDSS system inbound zero values, so that RDSS positioning, timing and timing service accuracy is further improved. The method comprises the following steps:
ΔZ RDSS positioning ＝ΔZ Outbound station +ΔZ Inbound station
ΔZ RDSS timing ＝(ΔZ Outbound station -ΔZ Inbound station )/2；
ΔZ RDSS time service ＝ΔZ Outbound station ；
Step 7, calculating the outbound zero value error delta Z of the RDSS system by utilizing the RDSS unidirectional time service result Outbound station Further evaluate the RDSS system outbound zero value error DeltaZ calculated in step 4 Outbound station The correctness of the result is as follows:
s701: taking atomic clock time with Beidou system time synchronization as a reference T0, and collecting a unidirectional time service result T of a timing time service receiver of a monitoring station RDSS time service Comparing the time with an atomic clock time reference T0 with Beidou system time synchronization, and calculating RDSS unidirectional time service error dT RDSS time service ；
dT RDSS time service ＝T RDSS time service -T0；
S702: with dT RDSS time service To calibrate the base data, dT is analyzed and processed RDSS time service Estimating system zero value error dZ affecting RDSS system unidirectional time service RDSS time service As an estimated value of the system outbound zero value error calibration, the method specifically comprises the following steps:
ΔZ outbound station ＝dZ RDSS time service ；
S703: comparing the S702 calculation result with the calculation result obtained in the step 4, the correctness of the calculated RDSS system outbound zero-value error result can be further evaluated.
Step 7, calculating an outbound zero value error delta Z of the RDSS system by using the RDSS unidirectional time service result Outbound station The calibrated result can also replace the step 4 as another calculation of deltaZ Outbound station The method.
And 3, the calculated RDSS system access combination zero value error delta Z can also be directly used for correcting the pseudo range rho after the RDSS system calibration zero value correction, namely, the system access combination zero value error correction aiming at the RDSS positioning service can be completed, and therefore the RDSS positioning service precision is further improved.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. 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 of the RDSS system zero value is characterized by comprising the following steps:
    step 1, defining pseudo-range P after calibrating zero value correction by an RDSS system, and further finishing ionosphere time delay correction, troposphere time delay correction and earth rotation correction as pseudo-range P;
    step 2, outputting the positioning signal of RDSS system to the inbound link C-S o →U→S i The distance C is used as a calibration reference distance D; wherein C.fwdarw.S o →U→S i C represents ranging signals from the central station C to the outbound satellite S o To the user U, and from the user U to the inbound satellite S i Forwarding, and finally, inbound links from the central station C;
    step 3, calculating different access combination zero value errors of the RDSS system, wherein the specific steps are as follows:
    s301: defining dp=p-D as RDSS system outbound combined zero value calibration base data;
    s302: correcting zero relative error delta Z of inbound systems of different devices of the same wave beam equi The method comprises the steps of carrying out a first treatment on the surface of the Wherein the device is a channel or demodulation unit;
    s303: on the basis of finishing zero relative error correction of the inbound systems of different devices of the same beam, a certain inbound reference beam is further selected, and the pseudo range rho of the same beam in the inbound of different beams is obtained inband Pseudo-range p with reference beam inbound inband0 Analyzing and processing the difference value of the (B) and calculating the system zero value relative error delta Z of the same beam outlet and different beam inlets of the RDSS system inband The method comprises the steps of carrying out a first treatment on the surface of the Further correcting the calculated result to obtain pseudo range rho of the corresponding beam station inband Finishing correction of system null relative errors of the same beam outbound and different beam inbound;
    s304: correcting system zero value relative error delta Z of different wave beam outbound of same satellite outband ；
    S305: calculating the RDSS system outbound combined null error delta Z of different satellite reference beam outbound and reference beam reference equipment inbound 0 ：
    S306: calibrating the RDSS system access combination zero value error delta Z of each beam outbound and each different equipment inbound full link;
    step 4, calculating the outbound zero value error delta Z of the RDSS system Outbound station ；
    Step 5, combining the RDSS system 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 Outbound station Calculating inbound zero value error Z of RDSS system Inbound station The method specifically comprises the following steps:
    Z inbound station ＝ΔZ-ΔZ Outbound station ；
    Step 6, the RDSS system outbound zero value error delta Z calculated in the step 4 is calculated Outbound station And the RDSS system inbound zero value error Z calculated in step 5 Inbound station The calibration of RDSS system zeros may be accomplished by modifying RDSS system outbound zeros and RDSS system inbound zeros:
    systematic zero-valued errors affecting RDSS location services:
    ΔZ RDSS positioning ＝ΔZ Outbound station +ΔZ Inbound station ；
    Systematic zero-valued errors affecting RDSS bidirectional timing services:
    ΔZ RDSS timing ＝(ΔZ Outbound station -ΔZ Inbound station )/2；
    Systematic zero-value errors affecting RDSS unidirectional time service:
    ΔZ RDSS time service ＝ΔZ Outbound station 。
  2. 2. The method for calibrating a value of a RDSS system as recited in claim 1, wherein in S302, when said device is a channel:
    selecting a certain reference channel ch0, and taking pseudo-range rho of the same wave beam and different channels chN for station chN Pseudo-range p with reference channel inbound ch0 Is compared with the result ρ of the comparison chN -ρ ch0 Analyzing, processing, and calculating RDSS systemSystematic null relative error δz for unifying different channel inbound of the same beam ch The method comprises the steps of carrying out a first treatment on the surface of the The calculated result delta Z ch Further correcting p of corresponding channel chN And finishing correction of the systematic zero value relative error of the same beam and different channel inbound.
  3. 3. The method for calibrating a zero value of an RDSS system as claimed in claim 1, wherein in S302, when the device is a demodulation unit:
    selecting a reference demodulation unit c0, and determining pseudo-range ρ of the same wave beam and different demodulation units cN cN Pseudo-range ρ inbound to reference demodulation unit c0 Is compared with the result ρ of the comparison cN -ρ c0 Analyzing and processing, and calculating the system zero value relative error delta Z of the same beam and different demodulation units of the RDSS system c The method comprises the steps of carrying out a first treatment on the surface of the The calculated result delta Z c And further correcting the pseudo range of the station corresponding to the demodulation unit, and finishing the correction of the system null value relative error of the station of the different demodulation units of the same wave beam.
  4. 4. The method for calibrating a null value in an RDSS system according to claim 1, wherein in S304, the systematic null relative errors δZ of different beam-exits of the same satellite are corrected outband The method of (1) is as follows:
    on the basis of finishing zero relative error correction of different equipment inbound systems of different beams of the same beam outbound, a certain outbound reference beam is further selected, and pseudo-range rho of different beams of the same satellite outbound is firstly obtained outband Pseudo range ρ of reference beam outbound outband0 Fitting and modeling respectively, calculating the difference between the fitted pseudo-ranges of different beam outbound stations at the same time point and the fitted pseudo-ranges of the reference beam outbound stations, and analyzing and processing the difference values corresponding to a plurality of time points to obtain the system zero value relative error delta Z of different beam outbound stations of the same satellite of the RDSS system outband 。
  5. 5. The method for calibrating a zero value of an RDSS system according to claim 1, wherein in S304, the same sanitation is modifiedSystem null relative error delta Z of satellite different wave beam outbound outband The method of (1) is as follows:
    firstly, corrected pseudo-ranges P of different wave beam outbound stations of the same satellite are obtained, and a difference dP between the corrected pseudo-ranges P and a calibration reference distance D is calculated outband The method comprises the steps of carrying out a first treatment on the surface of the Then calculates the difference dP between the corrected pseudo-range P of the reference beam outbound and the calibrated reference range D outband0 Will dP outband And dP outband0 Respectively analyzing and processing, and calculating the difference value to obtain the system zero value relative error delta Z of the same satellite and different beam outbound stations of the RDSS system outband The method comprises the steps of carrying out a first treatment on the surface of the By delta Z outband And further correcting pseudo-ranges corresponding to different beam-out stations to finish the correction of the system null value relative errors of the different beam-out stations.
  6. 6. The method for calibrating a null value in an RDSS system according to claim 1, wherein in S304, the systematic null relative errors δZ of different beam-exits of the same satellite are corrected outband The method of (1) is as follows:
    using outbound links C.fwdarw.S o The U one-way ranging value is selected, one-way ranging values of different beam outbound of the same satellite are compared with the one-way ranging values of the reference beam outbound, analysis processing is carried out, and the system zero value relative error delta Z of different beam outbound of the RDSS system is calculated and calculated outband The method comprises the steps of carrying out a first treatment on the surface of the Wherein C.fwdarw.S o U represents the distance from the central station C to the outbound satellite S o And forwarded and then to the outbound link of user U.
  7. 7. The method for calibrating a zero value of an RDSS system according to claim 1, wherein in S305, based on completing the correction of the system zero value relative error under the inbound links of different beams of the same satellite and different devices of different beams of the same satellite, calculating the dP result at that time, traversing all satellites to obtain the dP result corresponding to each satellite; analyzing and processing dP results corresponding to all satellites, and calculating the RDSS system outbound-inbound combined zero-value error of all satellite reference beam outbound and reference beam reference equipment inbound, wherein the error is the absolute error of the system zero value under the linkDifference DeltaZ 0 ：
    ΔZ 0 ＝dP。
  8. 8. The method for calibrating the RDSS system null value according to claim 1, wherein in S305, on the basis of completing the systematic null value relative error correction of the inbound of the same beam and different devices, 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 dP results corresponding to all satellites, and calculating the RDSS system outbound-inbound combined zero-value error delta Z of all satellite reference beam outbound and reference beam reference equipment inbound 0 ：
    ΔZ 0 ＝dP。
  9. 9. The method for calibrating a zero value of an RDSS system according to claim 1, wherein in S306, the method for calculating the error Δz of the RDSS system access combination zero value is as follows:
    ΔZ＝ΔZ 0 +δZ equi +δZ inband +δZ outband 。
  10. 10. the method for calibrating a zero value of an RDSS system according to claim 1, wherein in S306, the method for calculating the error Δz of the RDSS system access combination zero value is as follows: on the basis of finishing the dP result of system zero value relative error correction of different equipment in the same beam, respectively selecting the dP result corresponding to each beam inbound link of each beam outbound, analyzing and processing, calculating the RDSS system inbound and outbound combined zero value error of each beam outbound and each beam inbound, and further calibrating the RDSS system inbound and outbound combined zero value error delta Z of each beam inbound and each different equipment inbound all link of each beam outbound by combining the system zero value relative error of different equipment in the same beam inbound.
  11. 11. The method for calibrating a zero value of an RDSS system according to claim 1, wherein the specific method of step 4 is as follows:
    s401: taking atomic clock time with Beidou system time synchronization as a reference T0, and collecting a bidirectional timing result T of a timing and timing receiver of a monitoring station RDSS timing Performing time comparison and difference dT with atomic clock time reference T0 with Beidou system time synchronization Timing of As calibration base data for systematic zero-value errors affecting RDSS bidirectional timing services:
    dT timing of ＝T RDSS timing -T0；
    S402: for all dT Timing of Analyzing and processing to obtain a dT Timing of Value as systematic zero value error ΔZ affecting RDSS bi-directional timing service RDSS timing ：
    ΔZ RDSS timing ＝(ΔZ Outbound station -ΔZ Inbound station )/2；
    S403, combining the RDSS system outbound combined zero value error delta Z calculated in the step 3, and calculating the RDSS system outbound zero value error delta Z Outbound station ：
    ΔZ Outbound station ＝(ΔZ+2ΔZ RDSS timing )/2。
  12. 12. The method for calibrating a zero value of an RDSS system according to claim 1, wherein the specific method of step 4 is as follows:
    s701: taking atomic clock time with Beidou system time synchronization as a reference T0, and collecting a unidirectional time service result T of a timing time service receiver of a monitoring station RDSS time service Comparing the time with an atomic clock time reference T0 with Beidou system time synchronization, and calculating RDSS unidirectional time service error dT RDSS time service ；
    dT RDSS time service ＝T RDSS time service -T0；
    S702: para dT RDSS time service Analyzing and processing, wherein the obtained value is used as an estimated value of system outbound zero value error calibration, and specifically comprises the following steps:
    ΔZ outbound station ＝dT RDSS time service 。
  13. 13. A method of calibrating a RDSS system zero as claimed in any one of claims 1 to 12, wherein said analysis, processing is filtering, averaging, fitting, modeling, graphical analysis or mean square error operations, processing a plurality of values into one value.
  14. 14. A positioning method based on the RDSS system zero calibration method of claim 1 is characterized in that the RDSS system output and inbound combined zero error delta Z calculated in the step 3 is directly used for correcting the RDSS system calibration and zero corrected pseudo range rho, and the system output and inbound combined zero error calibration aiming at RDSS positioning service can be completed.
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