CN113325446B - Multimode common-frequency GNSS carrier phase time transfer method and system - Google Patents
Multimode common-frequency GNSS carrier phase time transfer method and system Download PDFInfo
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- 238000012546 transfer Methods 0.000 title claims abstract description 214
- 238000000034 method Methods 0.000 title claims abstract description 31
- 239000005436 troposphere Substances 0.000 claims description 11
- 238000001914 filtration Methods 0.000 claims description 9
- 238000012937 correction Methods 0.000 claims description 8
- 101000697277 Anemonia viridis Kappa-actitoxin-Avd4c Proteins 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 239000005433 ionosphere Substances 0.000 claims description 6
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- 230000009897 systematic effect Effects 0.000 claims description 3
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/256—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to timing, e.g. time of week, code phase, timing offset
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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
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- 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 relates to a multimode common-frequency GNSS carrier phase time transfer method and system. Determining single-frequency GNSS satellite clock difference parameters according to the multi-mode GNSS precise satellite double-frequency clock difference product related data; establishing a single-frequency time transfer model under a multimode GNSS common-frequency mode; determining a receiver clock error parameter of single-frequency GNSS carrier phase time transfer in a multimode common-frequency mode; establishing a dual-frequency time transfer model under a multimode GNSS common-frequency mode; determining a receiver clock error parameter in a dual-frequency GNSS time transfer model in a multi-mode common-frequency mode; and fusing the receiver clock error parameter of the single-frequency GNSS carrier phase time transfer and the receiver clock error parameter in the dual-frequency GNSS time transfer model to obtain a multi-mode common-frequency GNSS carrier phase time transfer result. The invention can realize the organic, unified and efficient GNSS carrier phase time transfer by adopting the multimode common-frequency GNSS observables.
Description
Technical Field
The invention relates to the field of carrier phase time transmission, in particular to a multimode common-frequency GNSS carrier phase time transmission method and system.
Background
Remote carrier phase time transfer technology based on global satellite navigation positioning system (GNSS) has been widely used in the field of precision time transfer as a space means with high efficiency and low cost. With the continuous construction and perfection of global large GNSS systems, the multi-mode GNSS carrier phase time transfer technology integrating GPS, galileo and BDS-3 can effectively improve the performance of remote time transfer. However, the current fusion method simply combines mathematical models on a normal equation, and does not consider compatible interoperation characteristics among the GNSS system signal segments, so that the organic fusion of multi-mode GNSS carrier phase time transfer cannot be realized, and meanwhile, consistency and stability of single-frequency and double-frequency GNSS time users in time transfer cannot be considered. Therefore, how to use multimode common-frequency GNSS observables to achieve an organic, uniform, and efficient GNSS carrier-phase time transfer is a scientific problem that needs to be solved in the current GNSS timing domain research.
Disclosure of Invention
The invention aims to provide a multimode common-frequency GNSS carrier phase time transfer method and system, which are used for integrating common-frequency pseudo-range and carrier phase observed quantity of multimode GNSS into a multimode GNSS time transfer model, establishing a brand-new multimode GNSS single-frequency and double-frequency time transfer model through correcting a cross GNSS mode of a common-frequency related error, and realizing the organic integration of multimode GNSS time transfer. Meanwhile, through carrying out self-adaptive real-time modeling and forecasting on the clock difference sequence based on single-frequency and double-frequency time transfer, the stability of time transfer result switching of different time users in different stages is realized.
In order to achieve the above object, the present invention provides the following solutions:
a multimode common-frequency GNSS carrier phase time transfer method comprises the following steps:
respectively acquiring pseudo-range, carrier phase observation data and multi-mode GNSS precise satellite double-frequency clock difference product related data of the same signal frequency point;
determining single-frequency GNSS satellite clock difference parameters according to the multi-mode GNSS precise satellite double-frequency clock difference product related data;
establishing a single-frequency time transfer model under a multimode GNSS common-frequency mode according to the pseudo-range, the carrier phase observation data and the single-frequency GNSS satellite clock difference parameter;
according to the single-frequency GNSS time transfer model in the multimode common-frequency mode, determining a receiver clock error parameter of single-frequency GNSS carrier phase time transfer in the multimode common-frequency mode;
establishing a double-frequency time transfer model under a multimode GNSS common-frequency mode according to the pseudo-range, the carrier phase observation data and the single-frequency GNSS satellite clock difference parameter;
determining a receiver clock difference parameter in the dual-frequency GNSS time transfer model in the multi-mode common-frequency mode according to the dual-frequency time transfer model in the multi-mode GNSS common-frequency mode;
and fusing the receiver clock error parameter of the single-frequency GNSS carrier phase time transfer and the receiver clock error parameter in the dual-frequency GNSS time transfer model to obtain a multi-mode common-frequency GNSS carrier phase time transfer result.
Optionally, the acquiring pseudo-range, carrier phase observation data and multi-mode GNSS precise satellite dual-frequency clock difference product related data of the same signal frequency point respectively specifically includes:
and respectively acquiring GPS L1/L5, galileo E1/E5a and BDS-3B1/B2a pseudo ranges, carrier phase observation data and multi-mode GNSS precise satellite double-frequency clock difference product related data of the same signal frequency points.
Optionally, the determining a single-frequency GNSS satellite clock difference parameter according to the multimode GNSS precision satellite dual-frequency clock difference product related data specifically includes:
the related data of the double-frequency clock difference product of the multimode GNSS precise satellite is adopted according to the formula Determining single-frequency GNSS satellite clock error parameters;
wherein ,dts As a single-frequency GNSS clock error parameter,f 1 and f 2 For the observation used by IGS analysis center in determining GNSS precision clock differenceThe frequency of the two frequency points measured, +.>Is satellite hardware delay at the L1/E1/B1 frequency point,for satellite code bias between frequency points, +.>The analysis center is provided with general satellite clock data.
Optionally, the single-frequency time transfer model in the multimode GNSS common frequency mode is:
wherein (G), (E) and (C) are respectively the vector forms representing the GPS, galileo and BDS-3 systems, P is the vector form of the pseudorange observables, phi is the vector form of the carrier phase observables,in order to eliminate vector form of observed quantity after ionosphere error, angle marks j and k respectively represent frequency and current epoch number, A is coefficient matrix of station coordinate vector x, τ is troposphere zenith delay, t is troposphere delay mapping function vector, and x is troposphere delay mapping function vector>In the form of vector of single frequency GNSS satellite Zhong Chaliang, dt r (SF) is the receiver clock error parameter of the single-frequency carrier phase time transfer model, ISB # E-G) ISB is the system deviation parameter between Galileo system E and GPS system G C-G) For systematic deviations between the BDS-3 system C and the GPS system G, I is the ionospheric delay parameter,obtaining the magnitude of the ionosphere grid product using the global ionosphere grid product, < >>For ambiguity vector of single frequency carrier phase observables, D is receiver hardware delay parameter, e is linear combination of DCB, its magnitude can be obtained by multimode GNSS satellite DCB product, epsilon is observables noise, sigma P ＝0.1m。
Optionally, the dual-frequency time transfer model in the multimode GNSS common frequency mode is:
wherein the corner mark IF is a dual-frequency ionosphere-free combination mark,ambiguity vector dt, which is the observed quantity of the phase of the dual-frequency carrier r (DF) is the receiver clock error parameter of the dual-frequency carrier phase time transfer model, deltaDCB is the satellite code deviation correction under the common frequency mode, and the expression is: /> Wherein DeltaDCB (G) and ΔDCB(C) GPS and BDS satellite code deviation correction, parameter +.> and />GPS L1 and L2, GPS L1 and L5, BDS-3B1 and B3, and BDS-3B1 and B2a, respectively.
Optionally, the fusing the receiver clock difference parameter of the single-frequency GNSS carrier phase time transfer and the receiver clock difference parameter in the dual-frequency GNSS time transfer model to obtain a multi-mode common-frequency GNSS carrier phase time transfer result specifically includes:
determining single-frequency time transfer quantity and double-frequency time transfer quantity under the common-frequency mode of k epochs according to the receiver clock difference parameter of the single-frequency GNSS carrier phase time transfer and the receiver clock difference parameter in the double-frequency GNSS time transfer model;
determining a single-double frequency time transfer quantity deviation sequence according to the single-double frequency time transfer quantity and the double-frequency time transfer quantity;
filtering monitoring and short-term forecasting are carried out by adopting Kalman filtering according to the single-double frequency time transfer quantity deviation sequence, and the single-double frequency time transfer quantity deviation sequence after forecasting is determined;
acquiring single-frequency time transfer quantity under a common-frequency mode of k+1 epoch;
and determining a GNSS carrier phase time transfer result fused with multimode common frequency according to the single-double frequency time transfer quantity deviation sequence after forecasting and the single-frequency time transfer quantity under the common frequency mode of the k+1 epoch.
Optionally, the determining, according to the forecasted single-double frequency time transfer quantity deviation sequence and the single frequency time transfer quantity in the k+1 epoch common frequency mode, a GNSS carrier phase time transfer result fusing multimode common frequency specifically includes:
the single-frequency time transfer quantity under the common-frequency mode of the k+1 epoch and the single-frequency time transfer quantity deviation sequence after the forecast are adopted by a formulaDetermining a GNSS carrier phase time transfer result fused with multimode common frequency;
wherein ,for the predicted single-double frequency time transfer quantity deviation sequence,/for the predicted single-double frequency time transfer quantity deviation sequence>For the single-frequency time transfer in common-frequency mode of k+1 epochs, +.>And (5) transmitting results for the GNSS carrier phase time fusing multimode common frequency.
A multimode, common-frequency GNSS carrier-phase time transfer system comprising:
the acquisition module is used for respectively acquiring pseudo-range and carrier phase observation data of the same signal frequency point and related data of a double-frequency clock difference product of the multimode GNSS precise satellite;
the single-frequency GNSS satellite clock difference parameter determining module is used for determining single-frequency GNSS satellite clock difference parameters according to the multi-mode GNSS precise satellite double-frequency clock difference product related data;
the single-frequency time transfer model building module is used for building a single-frequency time transfer model under a multimode GNSS common-frequency mode according to the pseudo-range, the carrier phase observation data and the single-frequency GNSS satellite clock difference parameter;
the receiver clock error parameter determining module is used for determining the receiver clock error parameter of the single-frequency GNSS carrier phase time transfer in the multimode common-frequency mode according to the single-frequency GNSS time transfer model in the multimode common-frequency mode;
the dual-frequency time transfer model building module is used for building a dual-frequency time transfer model under a multimode GNSS common-frequency mode according to the pseudo-range, the carrier phase observation data and the single-frequency GNSS satellite clock difference parameter;
the receiver clock error parameter determining module is used for determining the receiver clock error parameter in the dual-frequency GNSS time transfer model in the multi-mode common-frequency mode according to the dual-frequency GNSS time transfer model in the multi-mode common-frequency mode;
and the GNSS carrier phase time transfer result determining module is used for fusing the receiver clock difference parameter transferred by the single-frequency GNSS carrier phase time and the receiver clock difference parameter in the dual-frequency GNSS time transfer model to obtain a multimode common-frequency GNSS carrier phase time transfer result.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
firstly, the invention realizes the organic integration of multi-mode common-frequency GNSS time transfer and improves the performance of multi-mode GNSS time transfer. According to the invention, the same frequency pseudo range and carrier phase observed quantity of different GNSS are subjected to tight combination processing in a single-frequency mode and a double-frequency mode, so that the limitation of steady operation in time transfer of different GNSS systems is overcome, the advantage complementation in time transfer of different GNSS systems under the condition of the same frequency observed quantity is realized, and the fusion result further improves the performance of time transfer of carrier phases of GNSS.
Secondly, the invention effectively identifies and corrects the satellite code deviation of different GNSS systems at the same frequency point, and realizes the efficient switching of the satellite code deviation in the time transfer process of different GNSS systems at different frequencies. Satellite code deviation error identification and correction in GNSS carrier phase time transfer are troublesome problems in the field of multimode GNSS carrier phase time transfer, and are usually processed at a time transfer result end by adopting a link calibration mode, but the mode can only be carried out in stages, cannot be carried out in real time and cannot ensure the accuracy. The invention realizes uniformity of satellite code deviation of different GNSS systems under the same frequency, and can correct the satellite code deviation of the same frequency point in real time.
Thirdly, the invention realizes unification of single-frequency and double-frequency GNSS time transmission on the model and the result, realizes mutual recognition on the result of different types of time users, and further improves the time transmission efficiency of the users with large range of time. For a long time, in the time transmission process of time laboratories or time users at home and abroad, only the same type of receiver can be used, or the receivers are single-frequency or double-frequency receivers, and the atomic clock time and frequency signals cannot be transmitted under different types. The invention realizes the consistent result of the single-frequency and double-frequency GNSS time transfer users in the whole time transfer network, does not need to distinguish single-frequency users or double-frequency users deliberately, and improves the time transfer efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for transmitting carrier phase and time of a multimode, common-frequency GNSS according to the present invention;
FIG. 2 is a block diagram of a multi-mode common-frequency GNSS carrier phase time transfer system according to the present invention;
FIG. 3 is a diagram of the generation of a common-frequency multimode GNSS satellite clock-difference product;
FIG. 4 is a block diagram illustrating a mixed-mode GNSS time transfer model setup;
FIG. 5 is a block diagram of single and dual frequency GNSS time transfer link result bias monitoring and forecasting;
fig. 6 is a schematic diagram of a multi-mode common-frequency GNSS carrier phase time transfer method according to embodiment 1.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
The technical scheme adopted for solving the technical problems is as follows: the link clock time transfer basic result information obtained through fusion and calculation of the multimode common-frequency GNSS data realizes optimal estimation of multimode GNSS time transfer parameter estimation, self-adaptive monitoring and modeling of single-frequency and double-frequency results in a common-frequency mode, and meets the stability requirements of time users in different stages of time service. The method specifically comprises the following steps:
FIG. 1 is a flow chart of a method for transmitting carrier phase and time of a multimode, common-frequency GNSS according to the present invention. As shown in fig. 1, a multimode common-frequency GNSS carrier phase time transfer method includes:
step 101: the method for acquiring the pseudo-range, carrier phase observation data and multi-mode GNSS precise satellite double-frequency clock difference product related data of the same signal frequency point comprises the following steps of:
and respectively acquiring GPS L1/L5, galileo E1/E5a and BDS-3B1/B2a pseudo ranges, carrier phase observation data and multi-mode GNSS precise satellite double-frequency clock difference product related data of the same signal frequency points.
Step 102: according to the multimode GNSS precise satellite double-frequency clock difference product related data, determining single-frequency GNSS satellite clock difference parameters specifically comprises:
the related data of the double-frequency clock difference product of the multimode GNSS precise satellite is adopted according to the formula Determining single-frequency GNSS satellite clock error parameters;
wherein ,dts As a single-frequency GNSS clock error parameter,f 1 and f 2 For the frequency of two frequency points of the observables used by the IGS analysis center in determining the GNSS precision clock difference, < >>Is satellite hardware delay at the L1/E1/B1 frequency point,for satellite code bias between frequency points, +.>The analysis center is provided with general satellite clock data.
Step 103: and establishing a single-frequency time transfer model under a multimode GNSS common-frequency mode according to the pseudo-range, the carrier phase observation data and the single-frequency GNSS satellite clock difference parameter.
The single-frequency time transfer model under the multimode GNSS common-frequency mode is as follows:
wherein (G), (E) and (C) are respectively the vector forms representing the GPS, galileo and BDS-3 systems, P is the vector form of the pseudorange observables, phi is the vector form of the carrier phase observables,in order to eliminate vector form of observed quantity after ionosphere error, angle marks j and k respectively represent frequency and current epoch number, A is coefficient matrix of station coordinate vector x, τ is troposphere zenith delay, t is troposphere delay mapping function vector, and x is troposphere delay mapping function vector>In the form of vector of single frequency GNSS satellite Zhong Chaliang, dt r (SF) receiver clock error parameter, ISB, for single frequency carrier phase time transfer model (E-G) ISB is an intersystem deviation parameter between Galileo system E and GPS system G (C-G) For systematic deviation between BDS-3 system C and GPS system G, I is ionospheric delay parameter, its magnitude is obtained using global ionospheric grid product, < >>For ambiguity vector of single frequency carrier phase observables, D is receiver hardware delay parameter, e is linear combination of DCB, its magnitude can be obtained by multimode GNSS satellite DCB product, epsilon is observables noise, sigma P ＝0.1m。
Step 104: according to the single-frequency GNSS time transfer model in the multimode common-frequency mode, determining a receiver clock error parameter of single-frequency GNSS carrier phase time transfer in the multimode common-frequency mode;
the Kalman filtering is adopted to solve all parameters to be estimated, the following data processing strategies are considered in the specific implementation process, the intersystem deviation ISB is estimated as a constant in each time window (the window length is usually 30 minutes), the zenith troposphere delay is estimated according to the random walk process, the phase ambiguity is estimated as a constant under the condition of continuous cycle slip, and the receiver clock difference is estimated as the Gaussian white noise epoch by epoch.
Step 105: and establishing a double-frequency time transfer model under a multimode GNSS common-frequency mode according to the pseudo-range, the carrier phase observation data and the single-frequency GNSS satellite clock difference parameter.
The dual-frequency time transfer model under the multimode GNSS common-frequency mode is as follows:
wherein the corner mark IF is a dual-frequency ionosphere-free combination mark,ambiguity vector dt, which is the observed quantity of the phase of the dual-frequency carrier r (DF) is the receiver clock error parameter of the dual-frequency carrier phase time transfer model, deltaDCB is the satellite code deviation correction under the common frequency mode, and the expression is：/> Wherein DeltaDCB (G) and ΔDCB(C) GPS and BDS satellite code deviation correction, parameter +.> and />GPS L1 and L2, GPS L1 and L5, BDS-3B1 and B3, and BDS-3B1 and B2a, respectively.
Step 106: determining a receiver clock difference parameter in the dual-frequency GNSS time transfer model in the multi-mode common-frequency mode according to the dual-frequency time transfer model in the multi-mode GNSS common-frequency mode;
step 107: fusing the receiver clock error parameter of the single-frequency GNSS carrier phase time transfer and the receiver clock error parameter in the dual-frequency GNSS time transfer model to obtain a multimode common-frequency GNSS carrier phase time transfer result, wherein the method specifically comprises the following steps of:
step 1071: determining single-frequency time transfer quantity and double-frequency time transfer quantity under the common-frequency mode of k epochs according to the receiver clock difference parameter of the single-frequency GNSS carrier phase time transfer and the receiver clock difference parameter in the double-frequency GNSS time transfer model;
step 1072: determining a single-double frequency time transfer quantity deviation sequence according to the single-double frequency time transfer quantity and the double-frequency time transfer quantity;
step 1073: filtering monitoring and short-term forecasting are carried out by adopting Kalman filtering according to the single-double frequency time transfer quantity deviation sequence, and the single-double frequency time transfer quantity deviation sequence after forecasting is determined;
step 1074: acquiring single-frequency time transfer quantity under a common-frequency mode of k+1 epoch;
step 1075: determining a GNSS carrier phase time transfer result fusing multimode common frequency according to the forecasted single-double frequency time transfer quantity deviation sequence and the single-frequency time transfer quantity in the k+1 epoch common frequency mode, wherein the GNSS carrier phase time transfer result fusing multimode common frequency specifically comprises:
the single-frequency time transfer quantity under the common-frequency mode of the k+1 epoch and the single-frequency time transfer quantity deviation sequence after the forecast are adopted by a formulaDetermining a GNSS carrier phase time transfer result fused with multimode common frequency;
wherein ,for the predicted single-double frequency time transfer quantity deviation sequence,/for the predicted single-double frequency time transfer quantity deviation sequence>For the single-frequency time transfer in common-frequency mode of k+1 epochs, +.>And (5) transmitting results for the GNSS carrier phase time fusing multimode common frequency.
FIG. 2 is a block diagram of a multi-mode common-frequency GNSS carrier phase time transfer system according to the present invention. As shown in fig. 2, a multimode common-frequency GNSS carrier phase time transfer system includes:
the acquisition module 201 is configured to acquire pseudo-range, carrier phase observation data and multi-mode GNSS precise satellite dual-frequency clock difference product related data of the same signal frequency point respectively;
the single-frequency GNSS satellite clock error parameter determining module 202 is configured to determine a single-frequency GNSS satellite clock error parameter according to the multimode GNSS precision satellite double-frequency clock error product related data;
the single-frequency time transfer model building module 203 is configured to build a single-frequency time transfer model in a multimode GNSS common-frequency mode according to the pseudo-range, the carrier phase observation data and the single-frequency GNSS satellite clock difference parameter;
the receiver clock error parameter determining module 204 is configured to determine a receiver clock error parameter of the single-frequency GNSS carrier phase time transfer in the multimode common-frequency mode according to the single-frequency GNSS time transfer model in the multimode common-frequency mode;
the dual-frequency time transfer model building module 205 is configured to build a dual-frequency time transfer model in a multimode GNSS common frequency mode according to the pseudo-range, the carrier phase observation data and the single-frequency GNSS satellite clock difference parameter;
the receiver clock difference parameter determining module 206 in the dual-frequency GNSS time transfer model is configured to determine the receiver clock difference parameter in the dual-frequency GNSS time transfer model in the multi-mode common-frequency mode according to the dual-frequency GNSS time transfer model in the multi-mode common-frequency mode;
the GNSS carrier phase time transfer result determining module 207 is configured to fuse the receiver clock error parameter of the single-frequency GNSS carrier phase time transfer with the receiver clock error parameter in the dual-frequency GNSS time transfer model, so as to obtain a multi-mode common-frequency GNSS carrier phase time transfer result.
Example 1:
the embodiment provides a multimode common-frequency GNSS carrier phase time transfer method, which comprises the following steps:
firstly, acquiring pseudo-range and carrier phase observation data of a multimode common-frequency GNSS, generating multimode common-frequency GNSS satellite clock difference products according to a multimode GNSS satellite orbit and clock difference product shown in fig. 3, wherein the multimode common-frequency GNSS satellite clock difference products mainly comprise single-frequency satellite clock difference products and double-frequency satellite clock difference products in a common-frequency mode;
and secondly, preprocessing multimode common-frequency GNSS observation data, including data inspection, outlier rejection and cycle slip detection, to obtain clean data. Then, correction work of errors such as troposphere, ionosphere, tide, antenna phase center, earth rotation, etc. is performed. Then establishing single-frequency and double-frequency multimode GNSS time transfer observation equations under the common-frequency mode according to the method shown in fig. 4, respectively estimating clock differences of the single-frequency receiver and the double-frequency receiver as unknown parameters and other related parameters, and counting the accuracy of the clock differences to further obtain single-frequency and double-frequency multimode GNSS time transfer results;
and thirdly, acquiring a deviation sequence of the single-frequency and double-frequency time transfer result based on the single-frequency and double-frequency multimode GNSS time transfer result in the common-frequency mode, and forecasting the single-frequency and double-frequency time transfer deviation sequence according to the graph shown in fig. 5. And finally obtaining a GNSS carrier phase time transfer result fused with multimode common frequency. Fig. 6 is a schematic diagram of a multi-mode common-frequency GNSS carrier phase time transfer method according to embodiment 1.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (6)
1. A multimode, common-frequency GNSS carrier-phase time transfer method, comprising:
respectively acquiring pseudo-range, carrier phase observation data and multi-mode GNSS precise satellite double-frequency clock difference product related data of the same signal frequency point;
determining single-frequency GNSS satellite clock difference parameters according to the multi-mode GNSS precise satellite double-frequency clock difference product related data;
establishing a single-frequency time transfer model under a multimode GNSS common-frequency mode according to the pseudo-range, the carrier phase observation data and the single-frequency GNSS satellite clock difference parameter;
according to the single-frequency GNSS time transfer model in the multimode common-frequency mode, determining a receiver clock error parameter of single-frequency GNSS carrier phase time transfer in the multimode common-frequency mode;
establishing a double-frequency time transfer model under a multimode GNSS common-frequency mode according to the pseudo-range, the carrier phase observation data and the single-frequency GNSS satellite clock difference parameter;
determining a receiver clock difference parameter in the dual-frequency GNSS time transfer model in the multi-mode common-frequency mode according to the dual-frequency time transfer model in the multi-mode GNSS common-frequency mode;
fusing the receiver clock error parameter of the single-frequency GNSS carrier phase time transfer and the receiver clock error parameter in the dual-frequency GNSS time transfer model to obtain a multi-mode common-frequency GNSS carrier phase time transfer result; the method specifically comprises the following steps:
determining single-frequency time transfer quantity and double-frequency time transfer quantity under the common-frequency mode of k epochs according to the receiver clock difference parameter of the single-frequency GNSS carrier phase time transfer and the receiver clock difference parameter in the double-frequency GNSS time transfer model;
determining a single-double frequency time transfer quantity deviation sequence according to the single-double frequency time transfer quantity and the double-frequency time transfer quantity;
filtering monitoring and short-term forecasting are carried out by adopting Kalman filtering according to the single-double frequency time transfer quantity deviation sequence, and the single-double frequency time transfer quantity deviation sequence after forecasting is determined;
acquiring single-frequency time transfer quantity under a common-frequency mode of k+1 epoch;
determining a GNSS carrier phase time transfer result fused with multimode common frequency according to the forecasted single-double frequency time transfer quantity deviation sequence and the single-frequency time transfer quantity in the k+1 epoch common frequency mode; the method specifically comprises the following steps:
the single-frequency time transfer quantity under the common-frequency mode of the k+1 epoch and the single-frequency time transfer quantity deviation sequence after the forecast are adopted by a formulaDetermining GNSS carrier phase time transfer with fused multimode common frequencyResults;
wherein ,for the predicted single-double frequency time transfer quantity deviation sequence,/for the predicted single-double frequency time transfer quantity deviation sequence>For the single-frequency time transfer in common-frequency mode of k+1 epochs, +.>And (5) transmitting results for the GNSS carrier phase time fusing multimode common frequency.
2. The method for transmitting carrier phase and time of a multimode co-frequency GNSS of claim 1, wherein the acquiring the pseudo-range, carrier phase observation data and multimode GNSS precision satellite double-frequency clock difference product related data of the same signal frequency point respectively comprises:
and respectively acquiring GPS L1/L5, galileo E1/E5a and BDS-3B1/B2a pseudo ranges, carrier phase observation data and multi-mode GNSS precise satellite double-frequency clock difference product related data of the same signal frequency points.
3. The method for transmitting carrier phase time of a multimode co-frequency GNSS according to claim 1, wherein determining single-frequency GNSS satellite clock difference parameters according to the multimode GNSS precision satellite dual-frequency clock difference product related data specifically comprises:
the related data of the double-frequency clock difference product of the multimode GNSS precise satellite is adopted according to the formula Determining single-frequency GNSS satellite clock error parameters;
wherein ,dts As a single-frequency GNSS clock error parameter,f 1 and f 2 For the frequency of two frequency points of the observables used by the IGS analysis center in determining the GNSS precision clock difference, < >>Is the satellite hardware delay under the L1/E1/B1 frequency point, +.>For satellite code bias between frequency points, +.>The analysis center is provided with general satellite clock data.
4. The multi-mode common-frequency GNSS carrier-phase time transfer method of claim 1 wherein the single-frequency time transfer model in the multi-mode GNSS common-frequency mode is:
wherein (G), (E) and (C) are respectively the vector forms representing the GPS, galileo and BDS-3 systems, P is the vector form of the pseudorange observables, phi is the vector form of the carrier phase observables,in order to eliminate vector form of observed quantity after ionosphere error, angle marks j and k respectively represent frequency and current epoch number, A is coefficient matrix of station coordinate vector x, τ is troposphere zenith delay, t is troposphere delay mapping function vector, and x is troposphere delay mapping function vector>In the form of vector of single frequency GNSS satellite Zhong Chaliang, dt r (SF) receiver clock error parameter, ISB, for single frequency carrier phase time transfer model (E-G) ISB is an intersystem deviation parameter between Galileo system E and GPS system G (C-G) For systematic deviation between BDS-3 system C and GPS system G, I is ionospheric delay parameter, its magnitude is obtained using global ionospheric grid product, < >>For ambiguity vector of single frequency carrier phase observables, D is receiver hardware delay parameter, e is linear combination of DCB, its magnitude can be obtained by multimode GNSS satellite DCB product, epsilon is observables noise, sigma P ＝0.1m。
5. The method for transmitting carrier phase time of a multimode GNSS according to claim 3, wherein the dual-frequency time transmission model in the multimode GNSS common mode is:
wherein the corner mark IF is a dual-frequency ionosphere-free combination mark,ambiguity vector dt, which is the observed quantity of the phase of the dual-frequency carrier r (DF) is the receiver clock error parameter of the dual-frequency carrier phase time transfer model, deltaDCB is the satellite code deviation correction under the common frequency mode, and the expression is: /> Wherein DeltaDCB (G) and ΔDCB(C) GPS and BDS satellite code deviation correction, parameter +.> and />GPS L1 and L2, GPS L1 and L5, BDS-3B1 and B3 and BDS-3B1 and B2a, respectively.
6. A multimode, common-frequency GNSS carrier-phase time transfer system, comprising:
the acquisition module is used for respectively acquiring pseudo-range and carrier phase observation data of the same signal frequency point and related data of a double-frequency clock difference product of the multimode GNSS precise satellite;
the single-frequency GNSS satellite clock difference parameter determining module is used for determining single-frequency GNSS satellite clock difference parameters according to the multi-mode GNSS precise satellite double-frequency clock difference product related data;
the single-frequency time transfer model building module is used for building a single-frequency time transfer model under a multimode GNSS common-frequency mode according to the pseudo-range, the carrier phase observation data and the single-frequency GNSS satellite clock difference parameter;
the receiver clock error parameter determining module is used for determining the receiver clock error parameter of the single-frequency GNSS carrier phase time transfer in the multimode common-frequency mode according to the single-frequency GNSS time transfer model in the multimode common-frequency mode;
the dual-frequency time transfer model building module is used for building a dual-frequency time transfer model under a multimode GNSS common-frequency mode according to the pseudo-range, the carrier phase observation data and the single-frequency GNSS satellite clock difference parameter;
the receiver clock error parameter determining module is used for determining the receiver clock error parameter in the dual-frequency GNSS time transfer model in the multi-mode common-frequency mode according to the dual-frequency GNSS time transfer model in the multi-mode common-frequency mode;
the GNSS carrier phase time transfer result determining module is used for fusing the receiver clock error parameter transferred by the single-frequency GNSS carrier phase time and the receiver clock error parameter in the dual-frequency GNSS time transfer model to obtain a multimode common-frequency GNSS carrier phase time transfer result; the method specifically comprises the following steps:
determining single-frequency time transfer quantity and double-frequency time transfer quantity under the common-frequency mode of k epochs according to the receiver clock difference parameter of the single-frequency GNSS carrier phase time transfer and the receiver clock difference parameter in the double-frequency GNSS time transfer model;
determining a single-double frequency time transfer quantity deviation sequence according to the single-double frequency time transfer quantity and the double-frequency time transfer quantity;
filtering monitoring and short-term forecasting are carried out by adopting Kalman filtering according to the single-double frequency time transfer quantity deviation sequence, and the single-double frequency time transfer quantity deviation sequence after forecasting is determined;
acquiring single-frequency time transfer quantity under a common-frequency mode of k+1 epoch;
determining a GNSS carrier phase time transfer result fused with multimode common frequency according to the forecasted single-double frequency time transfer quantity deviation sequence and the single-frequency time transfer quantity in the k+1 epoch common frequency mode; the method specifically comprises the following steps:
the single-frequency time transfer quantity under the common-frequency mode of the k+1 epoch and the single-frequency time transfer quantity deviation sequence after the forecast are adopted by a formulaDetermining a GNSS carrier phase time transfer result fused with multimode common frequency;
wherein ,for the predicted single-double frequency time transfer quantity deviation sequence,/for the predicted single-double frequency time transfer quantity deviation sequence>For the single-frequency time transfer in common-frequency mode of k+1 epochs, +.>And (5) transmitting results for the GNSS carrier phase time fusing multimode common frequency.
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