CN113534212A - GNSS-based kilometer-region atmospheric phase inconsistency high-precision measurement method - Google Patents

GNSS-based kilometer-region atmospheric phase inconsistency high-precision measurement method Download PDF

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CN113534212A
CN113534212A CN202110841657.0A CN202110841657A CN113534212A CN 113534212 A CN113534212 A CN 113534212A CN 202110841657 A CN202110841657 A CN 202110841657A CN 113534212 A CN113534212 A CN 113534212A
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刘友永
陈静
耿虎军
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CETC 54 Research Institute
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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    • 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
    • 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
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    • G01S19/14—Receivers specially adapted for specific applications

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Abstract

The invention discloses a high-precision measuring method for atmospheric phase inconsistency in a kilometer-level area based on GNSS, which mainly solves the problem of atmospheric fluctuation phase difference compensation in an area uplink antenna array system in a kilometer-level area. The realization process is as follows: aiming at all the observed navigation satellites, establishing a homodyne equation set between the measuring stations; solving the difference between the single-difference integer ambiguity and the receiver clock difference, and eliminating multipath errors and observation noises to obtain a residual error containing single-difference ionosphere delay and single-difference troposphere delay; and establishing an interstation single-difference residual equation of different carrier frequencies, solving to obtain the single-difference ionosphere delay and the single-difference troposphere delay in the direction of the measured navigation satellite, and using the single-difference ionosphere delay and the single-difference troposphere delay for subsequent high-precision regional atmospheric phase space-time modeling and correction. The method has the advantages of high measurement precision, millimeter magnitude, good real-time property and relatively low cost, and is particularly suitable for high-precision measurement of the single difference ionosphere delay and the single difference troposphere delay of the uplink antenna array in a kilometer-level region.

Description

GNSS-based kilometer-region atmospheric phase inconsistency high-precision measurement method
Technical Field
The invention relates to a high-precision measuring method for the inconsistency of atmospheric phases in kilometer-level regions based on GNSS in the field of deep space measurement and control, which is particularly suitable for the high-precision measurement of the single difference ionospheric delay and the single difference tropospheric delay of an uplink antenna array in a region of 1km multiplied by 1km in the deep space measurement and control.
Background
In deep space measurement and control, when a deep space signal transmitted by an uplink antenna array passes through the atmosphere, an ionosphere refraction effect and a troposphere refraction effect can occur, wherein troposphere fluctuation (disturbance) is space-time high-frequency disturbance, the influence on the signal phase is great, the ionosphere refraction effect is also space-time high-frequency disturbance on a low-frequency-band signal, the S-band delay difference in a 1km range can reach 1 cm under adverse conditions, the phase difference estimation precision of an antenna array signal synthesis algorithm can be reduced, and the deep space measurement and control is a main factor influencing the improvement of the signal-to-noise ratio of the antenna array synthesis. The key technology of the uplink antenna array is how to compensate the phase of the ground antenna array signal so as to align different received signals by the spacecraft, wherein atmospheric disturbance is an important compensation item, and thus real-time high-precision measurement on atmospheric phase inconsistency is required.
The influence of atmospheric disturbance on the signal phase is strongly related to the position of the antenna array, weather and seasonal factors, the phase difference obtained by using an atmospheric model established by weather parameters cannot be guaranteed in the aspects of timeliness and precision, and the phase influence of atmospheric fluctuation needs to be accurately calibrated by using other means. Currently, three methods are mainly used in engineering to measure the space-time characteristics of the atmosphere: the interferometer obtains the atmospheric fluctuation phase difference by observing a high-precision calibrated radio power supply, but in actual observation, due to the small caliber of an antenna, radio signals with enough strength are difficult to receive in a short time; the second is a water vapor radiation instrument, because troposphere disturbance is mainly caused by water vapor turbulence, signal phase change can be directly reflected by measuring water vapor delay change, but when a small-caliber antenna is adopted, the measured beam width is 20-30 degrees, the beam path (the beam broadband is only about 0.05 degrees) of an uplink antenna array within 1km can be completely covered, atmospheric fluctuation phase difference among different uplink signals cannot be distinguished, if a large-caliber antenna is adopted, one antenna is arranged beside each uplink array antenna, the engineering quantity and cost are too high to bear, even if the antenna is multiplexed with the array antenna, the engineering cost is too high due to the compatibility problems of frequency band, signal processing and the like, and the phase change caused by ionosphere delay cannot be measured; thirdly, the method based on the GNSS signals has high measurement accuracy, good real-time performance and relatively low cost, but the minimum station spacing of the current GNSS continuous operation reference station network is about 10km, and compared with the uplink antenna array in a small area (1km multiplied by 1km), the horizontal spatial resolution of observed data is low, and the atmospheric phase difference in the area cannot be reflected, on the other hand, the method based on code pseudo-range observed quantity has insufficient accuracy, while the method based on carrier phase observed quantity has the problems that the whole-cycle ambiguity is difficult to resolve, the multipath effect influence is large, and the measurement accuracy is in the centimeter magnitude and cannot meet the high-accuracy requirement of the millimeter magnitude of the uplink antenna array in the kilometer magnitude area.
Disclosure of Invention
The invention aims to avoid the defects in the background technology and provides a high-precision measuring method for atmospheric phase inconsistency in kilometer areas based on GNSS.
The technical scheme adopted by the invention is as follows:
a high-precision measuring method for atmospheric phase inconsistency in kilometer-level regions based on GNSS comprises the following steps:
firstly, performing single difference between survey stations based on observation data of a plurality of GNSS receivers distributed in a kilometer-level range, and establishing a single difference equation set aiming at all navigation satellites observed by two survey stations:
Figure BDA0003179070770000031
wherein the content of the first and second substances,
Figure BDA0003179070770000032
where, i is 1,2, n, n is the number of navigation satellites, Δ ΦiFor two stations to a single difference of carrier phase, Δ R, of satellite iiFor two stations to satellite i code pseudoranges, Δ ρiIs the difference in the geometric distance from the satellite i to the two stations, f is the carrier frequency, c is the speed of light, Δ t is the difference between the receiver clock differences of the two stations, Δ NiAs single-difference integer ambiguity, delta, of satellite iΦiIs the phase residual of satellite i, deltaRiIs the code pseudorange residual, Δ I, of satellite IiFor the single difference ionospheric delay, Δ T, of two stations in the direction of the satellite iiFor single difference tropospheric delay, Δ M, of two stations in the direction of satellite iiFor multipath error in the i direction of the satellite, Δ εΦiInter-station carrier phase observation noise, Δ ε, for satellite iRiInter-station code pseudo range observation noise of a satellite i;
solving a single difference equation set to obtain a floating point solution of the single difference integer ambiguity, and fixing the single difference integer ambiguity delta N by using an LAMBDA algorithmi；
③ according to the fixed single difference integer ambiguity single difference delta NiCalculating the difference delta t of the clock difference of the receiver;
fourthly, calculating the phase residual error delta containing the single difference ionospheric delay, the single difference tropospheric delay, the multipath error and the observation noiseΦi：
Figure BDA0003179070770000041
Using ensemble average empirical mode decomposition to separate phase residual error deltaΦiFrequency division is carried out, a multi-path model is extracted by utilizing the characteristic that the multi-path effect is represented as high-frequency characteristic and the single-difference ionosphere delay and the single-difference troposphere delay are represented as low-frequency characteristic, the multi-path error is eliminated through star sun filtering, observation noise is removed through moving average filtering, and the inter-station single-difference residual error V containing the single-difference ionosphere delay and the single-difference troposphere delay is obtainediAnd has:
Figure BDA0003179070770000042
sixthly, aiming at the L1 carrier wave and the L2 carrier wave of the navigation satellite, respectively obtaining the single difference residual error V between stations of the two carrier wavesiL1And ViL2Thus, the equation is established:
Figure BDA0003179070770000043
Figure BDA0003179070770000044
solving the equation to obtain the single difference ionospheric delay delta I in the direction of the measured navigation satelliteiSum-single difference tropospheric delay Δ Ti。
The method comprises the following steps:
based on observation data of a plurality of GNSS receivers distributed in a kilometer-level range, establishing observation equations of two observation stations:
Figure BDA0003179070770000045
Figure BDA0003179070770000051
where, i, j is 1, 2., P and i ≠ j, P is the number of stations, Φi、ΦjCarrier phase observations, R, for two stations i, j, respectivelyi、RjCode pseudorange observations, p, for two stations, i, j, respectivelyi、ρjRespectively the geometric distance from the satellite to the two stations i and j, f is the carrier frequency, c is the speed of light, and σ ti、σtjReceiver clock difference, at, for two stations i, j, respectivelysIs the satellite clock error, Ni、NjPhase ambiguities, I, of two stations, I, j, respectivelyi、IjIonospheric refraction delay, T, for two stations, i, j, respectivelyi、TjTropospheric refraction delay, M, for two stations, i, j, respectivelyi、MjMultipath delay, epsilon, of two stations, i, j, respectivelyΦi、εΦjCarrier phase of i, j two stations respectivelyObserving noise,. epsilonRi、εRjCode pseudo-range observation noise of the two stations i and j respectively;
and (3) carrying out single difference between the i and j measuring stations to obtain the single difference as the following equation:
Figure BDA0003179070770000052
taking the differential notation, note:
ΔΦ＝Φi-Φj
ΔR＝Ri-Rj
Δρ＝ρi-ρj
Δt＝δti-δtj
ΔN＝Ni-Nj
ΔI＝Ii-Ij
ΔT＝Ti-Tj
ΔM＝Mi-Mj
ΔεΦ＝εΦi-εΦj
ΔεR＝εRi-εRj
then the inter-station single-difference observation equation can be written as:
Figure BDA0003179070770000061
ΔR＝Δρ+cΔt+ΔI+ΔT+ΔM+ΔεR
since the last four terms in the above formula include the ionosphere, the troposphere, the multipath and the observation noise values are small, the values are considered as a whole and are respectively recorded as phase residuals deltaΦSum code pseudorange residuals δR：
Figure BDA0003179070770000062
δR＝ΔI+ΔT+ΔM+ΔεR
Then the inter-station single-difference observation equation can be written as:
Figure BDA0003179070770000063
compared with the background technology, the invention has the following advantages:
the method measures the inconsistency of the regional atmosphere phases based on the observation data of a plurality of GNSS receivers in a kilometer-level range, greatly improves the horizontal spatial resolution of the observation data, and can reflect the difference of the kilometer-level regional atmosphere phases; all visible GNSS satellite signals can be utilized to the maximum extent, the signal intensity is high, continuous measurement can be carried out for 24 hours, the real-time performance is good, and the cost is low; based on the dual-frequency carrier phase observed quantity, by accurately resolving integer ambiguity and eliminating multipath errors, single-difference ionosphere delay and single-difference troposphere delay can be respectively solved, the measurement precision is high, the millimeter-scale level can be achieved, and the requirement of an uplink antenna array system in a kilometer-scale area is met.
Drawings
FIG. 1 is a flow chart of a GNSS-based method for high-precision measurement of atmospheric phase inconsistency in kilometer areas.
Detailed Description
The method comprises the steps that based on carrier phase observed quantities and code pseudo-range observed quantities of a GNSS double-frequency receiver, single-difference equations among stations are established for all observed navigation satellites, and single-difference integer ambiguity is solved and calculated by combining an LAMBDA algorithm; by utilizing the high-frequency characteristic of the multipath effect, a multipath model is extracted by adopting an ensemble average empirical mode decomposition method, and multipath errors are eliminated by sidereal day filtering; and establishing an interstation single-difference residual equation of different carrier frequencies, solving to obtain the single-difference ionosphere delay and the single-difference troposphere delay in the direction of the measured navigation satellite, and using the single-difference ionosphere delay and the single-difference troposphere delay for subsequent high-precision regional atmospheric phase space-time modeling and correction. The invention is characterized in that: firstly, aiming at the atmospheric disturbance characteristics of a kilometer-level region, measurement is carried out by utilizing observation data of a plurality of GNSS receivers within a range of 1km multiplied by 1km, so that the horizontal spatial resolution of the observation data is greatly improved, and the method is more suitable for an uplink antenna array system of the kilometer-level region; secondly, full-constellation GNSS signals are supported, and real-time performance is good; thirdly, phase inconsistency introduced by atmospheric disturbance is solved based on the carrier phase observed quantity, the carrier phase whole-cycle ambiguity can be accurately solved, the influence of multipath errors is effectively eliminated, the measurement precision is high and can reach millimeter level, and the requirement of an uplink antenna array system in a kilometer level area is met.
Referring to fig. 1, the specific implementation steps of this embodiment are as follows:
step 1, establishing an observation equation of i, j (i, j is 1, 2.. multidot., P and i is not equal to j) based on observation data of a plurality of GNSS receivers distributed in a range of 1km × 1 km:
Figure BDA0003179070770000071
Figure BDA0003179070770000072
wherein P is the number of stations, phii、ΦjCarrier phase observations, R, for two stations i, j, respectivelyi、RjCode pseudorange observations, p, for two stations, i, j, respectivelyi、ρjRespectively the geometric distance from the satellite to the two stations i and j, f is the carrier frequency, c is the speed of light, and σ ti、σtjReceiver clock difference, at, for two stations i, j, respectivelysIs the satellite clock error, Ni、NjPhase ambiguities, I, of two stations, I, j, respectivelyi、IjIonospheric refraction delay, T, for two stations, i, j, respectivelyi、TjTropospheric refraction delay, M, for two stations, i, j, respectivelyi、MjMultipath delay, epsilon, of two stations, i, j, respectivelyΦi、εΦjThe carrier phase observation noise, epsilon, of two stations, i, j respectivelyRi、εRjCode pseudo-range observation noise of the two stations i and j respectively;
and (3) carrying out single difference between the i and j measuring stations to obtain the single difference as the following equation:
Figure BDA0003179070770000081
for convenience of description, differential notation is used
Figure BDA0003179070770000082
Then the inter-station single-difference observation equation can be written as:
Figure BDA0003179070770000083
since the latter four terms (including errors such as ionosphere, troposphere, multipath, observation noise and the like) in the above formula have small values, the values are considered as a whole and are respectively recorded as phase residuals deltaΦSum code pseudorange residuals δR：
Figure BDA0003179070770000091
Then the inter-station single-difference observation equation (5) can be written as:
Figure BDA0003179070770000092
in an embodiment, the number P of stations is 5;
step 2, establishing a single difference equation set for all navigation satellites observed by two survey stations in a certain epoch:
Figure BDA0003179070770000093
where, i is 1,2, n, n is the number of navigation satellites, Δ ΦiFor two stations to a single difference of carrier phase, Δ R, of satellite iiFor two stations to satellite i code pseudoranges, Δ ρiIs the difference in the geometric distance from the satellite i to the two stations, f is the carrier frequency, c is the speed of light, Δ t is the difference between the receiver clock differences of the two stations, Δ NiAs single-difference integer ambiguity, delta, of satellite iΦiIs the phase residual of satellite i, deltaRiIs the code pseudorange residual, Δ I, of satellite IiFor the single difference ionospheric delay, Δ T, of two stations in the direction of the satellite iiFor single difference tropospheric delay, Δ M, of two stations in the direction of satellite iiFor multipath error in the i direction of the satellite, Δ εΦiInter-station carrier phase observation noise, Δ ε, for satellite iRiInter-station code pseudo range observation noise of a satellite i;
in an embodiment, the number n of observation satellites depends on the observation time and the position of the observation station;
step 3, resolving the single difference equation set to obtain a floating point solution of the single difference integer ambiguity, and fixing the single difference integer ambiguity delta N by using an LAMBDA algorithmi；
Step 4, according to the fixed single difference integer ambiguity Delta NiCalculating the difference delta t of the clock difference of the receiver;
step 5, calculating a phase residual delta containing single-difference ionospheric delay, single-difference tropospheric delay, multipath error and observation noiseΦi：
Figure BDA0003179070770000101
Step 6, adopting a set average empirical mode decomposition method to carry out phase residual error deltaΦFrequency division is carried out, a multi-path model is extracted by utilizing the characteristic that the multi-path effect shows high-frequency characteristic, the single difference ionosphere delay and the single difference troposphere delay show low-frequency characteristic, the multi-path error is eliminated through star sun filtering, observation noise is removed through moving average filtering, and a residual V containing the single difference ionosphere delay and the single difference troposphere delay is obtainediAnd has:
Figure BDA0003179070770000102
step 7, aiming at the L1 carrier wave and the L2 carrier wave of the navigation satellite, the single difference residual error V between stations of two carrier waves can be respectively obtainediL1And ViL2Thus, the equation is established:
Figure BDA0003179070770000103
solving the equation to obtain the single difference ionospheric delay delta I in the direction of the measured navigation satelliteiSum-single difference tropospheric delay Δ Ti；
And completing the realization of the high-precision measuring method for the atmospheric phase inconsistency in the kilometer-level region based on the GNSS.

Claims (2)

1. A high-precision measuring method for atmospheric phase inconsistency in kilometer-scale regions based on GNSS is characterized by comprising the following steps:
firstly, performing single difference between survey stations based on observation data of a plurality of GNSS receivers distributed in a kilometer-level range, and establishing a single difference equation set aiming at all navigation satellites observed by two survey stations:
Figure FDA0003179070760000011
wherein the content of the first and second substances,
Figure FDA0003179070760000012
where, i is 1,2, n, n is the number of navigation satellites, Δ ΦiFor two stations to a single difference of carrier phase, Δ R, of satellite iiFor two stations to satellite i code pseudoranges, Δ ρiIs the difference in the geometric distance from the satellite i to the two stations, f is the carrier frequency, c is the speed of light, Δ t is the difference between the receiver clock differences of the two stations, Δ NiAs single-difference integer ambiguity, delta, of satellite iΦiIs the phase residual of satellite i, deltaRiIs the code pseudorange residual, Δ I, of satellite IiFor single-difference ionization of two stations in the direction of satellite iLayer delay, Δ TiFor single difference tropospheric delay, Δ M, of two stations in the direction of satellite iiFor multipath error in the i direction of the satellite, Δ εΦiInter-station carrier phase observation noise, Δ ε, for satellite iRiInter-station code pseudo range observation noise of a satellite i;
solving a single difference equation set to obtain a floating point solution of the single difference integer ambiguity, and fixing the single difference integer ambiguity delta N by using an LAMBDA algorithmi；
③ according to the fixed single difference integer ambiguity single difference delta NiCalculating the difference delta t of the clock difference of the receiver;
fourthly, calculating the phase residual error delta containing the single difference ionospheric delay, the single difference tropospheric delay, the multipath error and the observation noiseΦi：
Figure FDA0003179070760000021
Using ensemble average empirical mode decomposition to separate phase residual error deltaΦiFrequency division is carried out, a multi-path model is extracted by utilizing the characteristic that the multi-path effect is represented as high-frequency characteristic and the single-difference ionosphere delay and the single-difference troposphere delay are represented as low-frequency characteristic, the multi-path error is eliminated through star sun filtering, observation noise is removed through moving average filtering, and the inter-station single-difference residual error V containing the single-difference ionosphere delay and the single-difference troposphere delay is obtainediAnd has:
Figure FDA0003179070760000022
sixthly, aiming at the L1 carrier wave and the L2 carrier wave of the navigation satellite, respectively obtaining the single difference residual error V between stations of the two carrier wavesiL1And ViL2Thus, the equation is established:
Figure FDA0003179070760000023
Figure FDA0003179070760000024
solving the equation to obtain the single difference ionospheric delay delta I in the direction of the measured navigation satelliteiSum-single difference tropospheric delay Δ Ti；
And the high-precision measurement of the atmospheric phase inconsistency in a kilometer-scale region based on the GNSS is completed.
2. The GNSS-based high-precision measurement method for the atmospheric phase inconsistency in the kilometer-scale region is characterized in that the steps are as follows:
based on observation data of a plurality of GNSS receivers distributed in a kilometer-level range, establishing observation equations of two observation stations:
Figure FDA0003179070760000031
Figure FDA0003179070760000032
where, i, j is 1, 2., P and i ≠ j, P is the number of stations, Φi、ΦjCarrier phase observations, R, for two stations i, j, respectivelyi、RjCode pseudorange observations, p, for two stations, i, j, respectivelyi、ρjRespectively the geometric distance from the satellite to the two stations i and j, f is the carrier frequency, c is the speed of light, and σ ti、σtjReceiver clock difference, at, for two stations i, j, respectivelysIs the satellite clock error, Ni、NjPhase ambiguities, I, of two stations, I, j, respectivelyi、IjIonospheric refraction delay, T, for two stations, i, j, respectivelyi、TjTropospheric refraction delay, M, for two stations, i, j, respectivelyi、MjMultipath delay, epsilon, of two stations, i, j, respectivelyΦi、εΦjThe carrier phase observation noise, epsilon, of two stations, i, j respectivelyRi、εRjCode pseudo-range observation noise of the two stations i and j respectively;
and (3) carrying out single difference between the i and j measuring stations to obtain the single difference as the following equation:
Figure FDA0003179070760000033
taking the differential notation, note:
ΔΦ＝Φi-Φj
ΔR＝Ri-Rj
Δρ＝ρi-ρj
Δt＝δti-δtj
ΔN＝Ni-Nj
ΔI＝Ii-Ij
ΔT＝Ti-Tj
ΔM＝Mi-Mj
ΔεΦ＝εΦi-εΦj
ΔεR＝εRi-εRj
then the inter-station single-difference observation equation can be written as:
Figure FDA0003179070760000041
ΔR＝Δρ+cΔt+ΔI+ΔT+ΔM+ΔεR
since the last four terms in the above formula include the ionosphere, the troposphere, the multipath and the observation noise values are small, the values are considered as a whole and are respectively recorded as phase residuals deltaΦSum code pseudorange residuals δR：
Figure FDA0003179070760000042
δR＝ΔI+ΔT+ΔM+ΔεR
Then the inter-station single-difference observation equation can be written as:
Figure FDA0003179070760000043
CN202110841657.0A 2021-07-26 2021-07-26 GNSS-based kilometer-region atmospheric phase inconsistency high-precision measurement method Pending CN113534212A (en)

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Application publication date: 20211022