CN113703017B - Satellite antenna phase center deviation calculation method and device - Google Patents
Satellite antenna phase center deviation calculation method and device Download PDFInfo
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Abstract
The invention relates to a satellite antenna phase center deviation calculation method and device, and belongs to the technical field of antenna measurement and satellite positioning navigation. The method comprises the following steps: acquiring historical observables of each measuring station; based on a basic observation equation of the GNSS, a non-combined PCO estimation model is established, wherein the non-combined PCO estimation model comprises a pseudo-range equation and a carrier phase equation of each frequency point; each frequency point comprises a first frequency point, a second frequency point and a third frequency point; and obtaining PCO of the third frequency point according to the historical observables and the non-combined PCO estimation model. The non-combined PCO estimation model established by the invention comprises a pseudo-range equation and a carrier phase equation of each frequency point, so that PCO of a third frequency point can be independently calculated through the model to obtain accurate PCO of the third frequency point, the precision of precise orbit and clock error determination can be improved, and the non-combined PCO estimation model can be applied to solving the scale parameters of an earth reference frame, refining a satellite light pressure model, researching the second order term influence of ionosphere delay and the like, and high-precision positioning can be realized.
Description
Technical Field
The invention relates to a satellite antenna phase center deviation calculation method and device, and belongs to the technical field of antenna measurement and satellite positioning navigation.
Background
The navigation satellite antenna performs a signal transmitting function, and the center of the signal radiation source is not consistent with the center of mass of the satellite, so that an antenna phase center deviation, i.e., PCO, is generated, and when the satellite radiates signals towards different space angles and azimuth angles, a tiny satellite phase change, i.e., PCV, is generated. Inaccurate PCO and PCV will have a significant impact on the precise positioning, orbit, attitude, and light pressure of the GNSS, and for these reasons, the PCO of satellites and receivers usually needs to be estimated comprehensively using observation data for many years to obtain a relatively accurate value, and the value is usually stable to be constant due to small variation amplitude, so that various applications of the GNSS are facilitated. The ground calibration value may not be an accurate value for the satellite due to factors such as changes in the surrounding environment after the satellite is in orbit. Thus, typically, after a period of time of in-orbit operation of a newly transmitted satellite, its PCO needs to be calibrated in orbit.
In the prior art, an observation model based on double-frequency ionosphere combination is generally used for satellite precise orbit determination, and the estimation of the current antenna phase center obtained by the method is the result of a double-frequency signal (namely an IF strategy). However, at present, the GPS in the united states, galileo in the european union and the beidou satellite navigation system (BDS) in china support observations of three or more frequencies, that is, the GPS has 12 satellites capable of transmitting signals of three frequency points, and the BDS and Galileo are capable of transmitting signals of three or more frequency points of the full constellation. The third frequency observation of the GNSS is significant compared with the dual-frequency observation of the conventional GNSS. In addition, in a complex environment, the situation of data loss is very common, and if the conventional double-frequency observation value is lost, the third frequency can assist in combining and eliminating ionosphere errors, so that the positioning performance can be remarkably improved, the data availability can be greatly improved by the observation values of a plurality of frequencies, and the continuity of calculation and the availability of results are ensured.
Therefore, when the antenna phase center deviation is calibrated, the third frequency point needs to be calibrated separately, but the observation model based on the dual-frequency ionosphere combination cannot estimate the PCO of a single frequency point, so that the PCO of the third frequency point is generally assumed to be consistent with the PCO of an adjacent frequency point, for example: the L5 frequency point assumption of the GPS is consistent with the L2 frequency point, the B3 frequency point assumption of the second generation of the Beidou is consistent with the B2 frequency point, and the contribution of the third frequency point is influenced by the error term based on the assumption, so that a technical scheme for estimating the PCO of the third frequency point is required to be provided.
Disclosure of Invention
The purpose of the application is to provide a satellite antenna phase center deviation calculation method, which provides an effective solution for PCO calculation of a third frequency point; meanwhile, a satellite antenna phase center deviation calculating device is also provided.
In order to achieve the above purpose, the present application provides a technical scheme of a satellite antenna phase center deviation calculating method, including the following steps:
1) Acquiring historical observables of each measuring station;
2) Based on a basic observation equation of a GNSS, establishing a non-combined PCO estimation model, wherein the non-combined PCO estimation model comprises a pseudo-range equation and a carrier phase equation of each frequency point; each frequency point comprises a first frequency point, a second frequency point and a third frequency point;
3) And obtaining PCO of the third frequency point according to the historical observables and the non-combined PCO estimation model.
In addition, the application also provides a satellite antenna phase center deviation calculating device, which comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the technical scheme of the satellite antenna phase center deviation calculating method when executing the computer program.
The satellite antenna phase center deviation calculating method and device have the beneficial effects that: the non-combined PCO estimation model established by the invention comprises a pseudo-range equation and a carrier phase equation of each frequency point, so that PCO of a third frequency point can be independently calculated through the model to obtain accurate PCO of the third frequency point. The PCO of the accurate third frequency point not only can improve the precision of precise orbit and clock error determination, but also can be applied to solving the scale parameters of the earth reference frame, refining the satellite light pressure model, researching the second order term influence of ionosphere delay and the like, and high-precision positioning is realized. The high-precision positioning result has important significance for the research of earth science such as crust deformation, plate movement and the like.
Furthermore, in the satellite antenna phase center deviation calculating method and device, the non-combined PCO estimation model is as follows:
wherein ,
the pseudo range of the station r at the first frequency point is measured for the satellite s; />
A sight vector of a satellite s and a station r; phi (t) 0 ,t) s From the initial time t for satellite s 0 A state transition matrix to the current time t; />
Initial state parameters representing satellites s, including position, velocity, and force model parameters; x is x r Position vector for station r; />
A projection function of a satellite s and a station r; t (T) r Tropospheric delay for station r; c is the speed of light; />
Measuring the clock difference of the station r after parameter recombination; />
The clock difference of the satellite s after parameter recombination is given; />
Ionospheric delay for the first frequency point after parameter reorganization; gamma ray 1 Ionospheric delay coefficients for the first frequency points; epsilon 1 The measurement error of the first frequency point pseudo range is obtained; />
The pseudo range of the station r at the second frequency point is measured for the satellite s; gamma ray 2 Ionospheric delay coefficients for the second frequency points; epsilon 2 The measurement error of the second frequency point pseudo range is obtained; />
The pseudo range of the station r at a third frequency point is measured for the satellite s; e, e s A satellite-fixed system coordinate vector of the satellite s in a reference coordinate system; />
PCO correction vector of the third frequency point of the satellite s; gamma ray 3 Ionospheric delay coefficients for the third frequency point; epsilon 3 The measurement error of the third frequency point pseudo range is obtained; />
The carrier phase of the station r at the first frequency point is measured for the satellite s; />
The carrier phase of the station r at the second frequency point is measured for the satellite s; />
The carrier phase of the station r at a third frequency point is measured for the satellite s; h r A deviation term of a third frequency point of the measuring station r; />
The deviation term of the third frequency point of the satellite s after parameter recombination; />
The ambiguity parameters of the first frequency point after parameter recombination are obtained; />
The ambiguity parameters of the second frequency point after parameter recombination are obtained; />
And the ambiguity parameters of the third frequency point after parameter recombination are obtained.
Further, in the satellite antenna phase center deviation calculating method and device, in the non-combined PCO estimation model, a deviation term H of a third frequency point of the station r is measured r The method comprises the steps that a station r does not harden a component of delay of a piece in pseudo range of each frequency point:
H r ＝-(αB r,1 +βB r,2 )-γ 3 β(B r,1 -B r,2 )+B r,3 ；
wherein ,Br,1 The method comprises the steps that a hardening member delay component is not generated when a station r is in pseudo range of a first frequency point; b (B) r,2 A delay component of the hardening member is not hardened when the station r is in the pseudo range of the second frequency point; b (B) r,3 A delay component of the hardening member is not hardened for the station r in the pseudo range of the third frequency point;
/>
f 1 f is the frequency of the first frequency point 2 Is the frequency of the second frequency point.
Furthermore, in the satellite antenna phase center deviation calculation method and device, in the non-combined PCO estimation model, the deviation term of the third frequency point of the satellite s after parameter recombination
The method comprises the steps of enabling a satellite s to have a carrier phase time-varying hardware delay component of each frequency point and a pseudo-range time-varying hardware delay component:
wherein ,
a delay component of the hardening member is not hardened when the satellite s is in the pseudo range of the first frequency point; />
A delay component of the hardening member is not hardened when the satellite s is in the pseudo range of the second frequency point; />
A delay component of the hardening member is not hardened when the satellite s is in the pseudo range of the third frequency point; />
A carrier phase time-varying hardware delay component of the satellite s at a first frequency point; />
A carrier phase time-varying hardware delay component of the satellite s at a second frequency point; />
A carrier phase time-varying hardware delay component of the satellite s at a third frequency point; />
f 1 F is the frequency of the first frequency point 2 Is the frequency of the second frequency point.
Furthermore, in the satellite antenna phase center deviation calculating method and device, in the non-combined PCO estimation model, the ambiguity parameters of the third frequency point after parameter recombination
The satellite s does not harden a delay component of the component when in pseudo range of each frequency point; the station r does not harden a delay component of the piece when pseudo ranges of the first frequency point and the second frequency point are generated; station r does not harden the delay component of the member at the carrier phase of the third frequency point and satellite s does not harden at the carrier phase of the third frequency pointComponent of delay:
wherein ,λ3 The wavelength of the third frequency point;
the ambiguity parameters of the third frequency point before parameter recombination are used; b r,3 The delay component of the hardening member is not hardened when the station r is in the carrier phase of the third frequency point; />
A component of delay of the hardening member is not hardened for the satellite s at the carrier phase of the third frequency point; b (B) r,1 The method comprises the steps that a hardening member delay component is not generated when a station r is in pseudo range of a first frequency point; b (B) r,2 A delay component of the hardening member is not hardened when the station r is in the pseudo range of the second frequency point; />
A delay component of the hardening member is not hardened when the satellite s is in the pseudo range of the first frequency point; />
A delay component of the hardening member is not hardened when the satellite s is in the pseudo range of the second frequency point; />
A delay component of the hardening member is not hardened when the satellite s is in the pseudo range of the third frequency point; />
f 1 F is the frequency of the first frequency point 2 Is the frequency of the second frequency point.
Drawings
FIG. 1 is a flow chart of a satellite antenna phase center deviation calculation method according to the present invention;
FIG. 2 is a schematic diagram of PCO horizontal time sequence and beta angle change of an L5 frequency point obtained by the method of the invention;
FIG. 3 is a graph showing the PCO level time series and beta angle change obtained by the IF strategy;
FIG. 4-1 is a schematic diagram of the PCO horizontal time sequence and beta angle change of the L1 frequency point obtained by adopting the UC strategy;
fig. 4-2 is a schematic diagram of PCO horizontal time sequence and beta angle change of an L2 frequency point obtained by adopting a UC strategy according to the present invention;
FIG. 5 is a D of the SRP model of the present invention 0 A change sequence diagram of parameters along with beta angles;
FIG. 6 is a schematic view of a PCO vertical time sequence of an L5 frequency point obtained by the method of the invention;
FIG. 7 is a schematic view of the vertical time series of PCO obtained by the IF strategy of the present invention;
FIG. 8-1 is a schematic diagram of a PCO vertical time sequence of an L1 frequency point obtained by adopting a UC strategy;
fig. 8-2 is a schematic diagram of PCO vertical time sequence of an L2 frequency point obtained by using the UC strategy according to the present invention.
Detailed Description
The embodiment of the satellite antenna phase center deviation calculating method comprises the following steps:
the main conception of the satellite antenna phase center deviation (PCO) calculating method is that the inaccurate PCO can have significant influence on the precise positioning, orbit determination, attitude, light pressure of the GNSS and the calculation of the earth reference frame parameters, so that the invention establishes a non-combined PCO estimation model, and accurately and independently calculates the PCO of the third frequency point through the non-combined PCO estimation model.
Specifically, as shown in fig. 1, the method for calculating the phase center deviation of the satellite antenna includes the following steps:
1) And acquiring the historical observed quantity of each measuring station.
2) Based on the basic observation equation of GNSS, a non-combined PCO estimation model is established.
Because of the time-varying deviation amount in the observed quantity, the deviation term of the basic observation equation of the GNSS comprises a time-varying hardware delay component and a time-varying hardware delay component which are not hardened when the station and the satellite are measured, and the basic observation equation of the GNSS is as follows:
wherein ,
for the satellite s, the pseudo range of the station r at the ith frequency point (namely pseudo range observed quantity), i=1, 2 and 3; />
Distance of satellite s and station r; />
A projection function of a satellite s and a station r; t (T) r Tropospheric delay for station r; c is the speed of light; δt r Clock difference of the measuring station r before parameter recombination; />
Ionospheric delay for a first frequency point prior to parameter reorganization; gamma ray i Is->
Coefficient of gamma i ＝(f 1 /f i ) 2 ，f i The frequency of the ith frequency point; b (B) r,i The method comprises the steps that a hardening member delay component is not generated when a station r is in pseudo range of an ith frequency point; />
A delay component of the hardening member is not hardened when the satellite s is in the pseudo range of the ith frequency point; />
The carrier phase of the station r at the ith frequency point (namely carrier phase observed quantity) is measured for the satellite s; lambda (lambda) i The wavelength of the ith frequency point; />
The ambiguity parameters of the ith frequency point before parameter recombination are used; b r,i The delay component of the hardening member is not hardened when the station r is in the carrier phase of the ith frequency point; />
A component of delay of the hardening member is not hardened for the satellite s at the carrier phase of the ith frequency point; />
Is the carrier phase time-varying hardware delay component of satellite s at the i-th frequency point.
In the prior art, the calculation of PCO is generally performed using an IF combining strategy, for which an observation model based on dual-frequency ionosphere combination is obtained based on the basic observation equation of GNSS, and the model obtains PCO in dual-frequency combination:
wherein ,
IF pseudorange for satellite s, station r; />
A sight vector of a satellite s and a station r; phi (t) 0 ,t) s From the initial time t for satellite s 0 A state transition matrix to the current time t; />
Initial state parameters representing satellites s, including position, velocity, and force model parameters; e, e s A satellite-fixed system coordinate vector of the satellite s in a reference coordinate system; />
The PCO correction vector is the IF combination of the satellite s, the antenna coordinates of the satellite s are represented in a satellite-fixed system, the Z axis of the satellite-fixed system points to the earth center, and the Y axis is the rotation axis of the solar panelThe X axis obeys the right hand system; x is x r Position vector for station r; c is the speed of light; />
Measuring the clock difference of the station r after parameter recombination; />
The clock difference of the satellite s after parameter recombination is given; />
A projection function of a satellite s and a station r; t (T) r Tropospheric delay for station r; />
IF measurement error as pseudo-range; />
The IF carrier phase of the station r is measured for satellite s; />
IF measurement error for carrier phase; />
Is an ambiguity parameter for the ionosphere combination.
In the observation model based on the double-frequency ionosphere combination, each parameter is specifically as follows:
wherein ,
wherein ,δtr Clock difference of the measuring station r before parameter recombination;
f 1 f is the frequency of the first frequency point 2 The frequency is the frequency of the second frequency point; c is the speed of light; b (B) r,1 The method comprises the steps that a hardening member delay component is not generated when a station r is in pseudo range of a first frequency point; b (B) r,2 A delay component of the hardening member is not hardened when the station r is in the pseudo range of the second frequency point; δt s Clock difference of the satellite s before parameter recombination; />
A delay component of the hardening member is not hardened when the satellite s is in the pseudo range of the first frequency point; />
A delay component of the hardening member is not hardened when the satellite s is in the pseudo range of the second frequency point; />
A carrier phase time-varying hardware delay component of the satellite s at a first frequency point; />
A carrier phase time-varying hardware delay component of the satellite s at a second frequency point; lambda (lambda) IF Is the combined wavelength of the IF; />
The ambiguity parameters of the first frequency point before parameter recombination are used; />
The ambiguity parameters of the second frequency point before parameter recombination are used; b r,IF The IF carrier phase for station r is not hardened by the delay component; b r,1 The method comprises the steps that a delay component of a hardening member is not generated when a station r is in a carrier phase of a first frequency point; b r,2 The delay component of the hardening member is not hardened when the station r is in the carrier phase of the second frequency point; />
A non-hardened delay component for the IF carrier phase of satellite s; />
A delay component of the hardening component is not hardened when the satellite s is in the carrier phase of the first frequency point; />
A delay component of the hardening component is not hardened for the satellite s at the carrier phase of the second frequency point; />
The IF pseudo-range for station r is not hardened by a delay component; />
The IF pseudorange for satellite s is not hardened by the delay component.
However, in the above model, the PCO of a single frequency point cannot be calculated, so the non-combined PCO estimation model of the present invention is provided, where the non-combined PCO estimation model includes a pseudo-range equation and a carrier phase equation of a first frequency point, a second frequency point and a third frequency point, and specifically is as follows:
wherein ,
the pseudo range of the station r at the first frequency point is measured for the satellite s; />
A sight vector of a satellite s and a station r;
Φ(t 0 ,t) s from the initial time t for satellite s 0 A state transition matrix to the current time t;
initial state parameters representing satellites s, including position, velocity, and force model parameters; x is x r Position vector for station r; />
A projection function of a satellite s and a station r; t (T) r Tropospheric delay for station r; c is the speed of light; />
Measuring the clock difference of the station r after parameter recombination; />
The clock difference of the satellite s after parameter recombination is given; />
Ionospheric delay (first order term) for the first frequency point after parameter reorganization; gamma ray 1 Ionospheric delay coefficients for the first frequency points; epsilon 1 The measurement error of the first frequency point pseudo range is obtained; />
The pseudo range of the station r at the second frequency point is measured for the satellite s; gamma ray 2 Ionospheric delay coefficients for the second frequency points; epsilon 2 The measurement error of the second frequency point pseudo range is obtained; />
The pseudo range of the station r at a third frequency point is measured for the satellite s; e, e s A satellite-fixed system coordinate vector of the satellite s in a reference coordinate system; />
PCO correction vector of the third frequency point of the satellite s; gamma ray 3 Ionospheric delay coefficients for the third frequency point; epsilon 3 The measurement error of the third frequency point pseudo range is obtained; />
The carrier phase of the station r at the first frequency point is measured for the satellite s; />
For satellite s, stationr is the carrier phase of the second frequency point; />
The carrier phase of the station r at a third frequency point is measured for the satellite s; h r A deviation term of a third frequency point of the measuring station r; />
The deviation term of the third frequency point of the satellite s after parameter recombination; />
The ambiguity parameters of the first frequency point after parameter recombination are obtained; />
The ambiguity parameters of the second frequency point after parameter recombination are obtained; />
And the ambiguity parameters of the third frequency point after parameter recombination are obtained.
Ionospheric delay coefficient gamma of the first frequency point 1 ＝(f 1 /f 1 ) 2 Ionospheric delay coefficient gamma of second frequency point 2 ＝(f 1 /f 2 ) 2 Ionospheric delay coefficient gamma of third frequency point 3 ＝(f 1 /f 3 ) 2, wherein ,f1 Is the frequency f of the first frequency point 2 Is the frequency f of the second frequency point 3 Is the frequency of the third frequency point.
In the non-combined PCO estimation model, the deviation term H of the third frequency point of the measuring station r r The method comprises the steps that a station r does not harden a delay component of a piece in pseudo range of each frequency point; deviation term of third frequency point of satellite s after parameter recombination
The method comprises the steps that a carrier phase time-varying hardware delay component of a satellite s at each frequency point and a pseudo-range time-varying hardware delay component are not hardened; ambiguity parameter of third frequency point after parameter recombination +.>
The satellite s does not harden a delay component of the component when in pseudo range of each frequency point; the station r does not harden a delay component of the piece when pseudo ranges of the first frequency point and the second frequency point are generated; the station r does not harden the delay component when in the carrier phase of the third frequency point and the satellite s does not harden the delay component when in the carrier phase of the third frequency point, and the method specifically comprises the following steps:
wherein ,δtr Clock difference of the measuring station r before parameter recombination; b (B) r,1 The method comprises the steps that a hardening member delay component is not generated when a station r is in pseudo range of a first frequency point; b (B) r,2 A delay component of the hardening member is not hardened when the station r is in the pseudo range of the second frequency point;
f 1 f is the frequency of the first frequency point 2 The frequency is the frequency of the second frequency point; δt s Clock difference of the satellite s before parameter recombination; />
A delay component of the hardening member is not hardened when the satellite s is in the pseudo range of the first frequency point; />
A delay component of the hardening member is not hardened when the satellite s is in the pseudo range of the second frequency point; />
A carrier phase time-varying hardware delay component of the satellite s at a first frequency point; />
A carrier phase time-varying hardware delay component of the satellite s at a second frequency point; />
Ionospheric delay for a first frequency point prior to parameter reorganization; />
A carrier phase time-varying hardware delay component of the satellite s at a third frequency point; />
The ambiguity parameters of the ith frequency point before parameter recombination are used; lambda (lambda) i The wavelength of the ith frequency point; b r,i The delay component of the hardening member is not hardened when the station r is in the carrier phase of the ith frequency point; />
A component of delay of the hardening member is not hardened for the satellite s at the carrier phase of the ith frequency point; />
The ambiguity parameters of the first frequency point after parameter recombination are obtained;
the ambiguity parameters of the second frequency point after parameter recombination are obtained; />
Is free of H after parameter recombination s The ambiguity parameter of the third frequency point; h s A deviation term of a third frequency point of the satellite s before parameter recombination; b (B) r,3 A delay component of the hardening member is not hardened for the station r in the pseudo range of the third frequency point; />
The hard-ware delay component is not hardened for satellite s at the pseudorange of the third frequency point.
In the non-combined PCO estimation model,
x r ,T r ,/>
H r ,/>
for unknown parameters->
and Hr Constraint conditions are added to eliminate rank deficiency, and the method comprises selecting a ground station as a reference clock, and selecting H of one station r The value is 0.
3) And (3) carrying the historical observed quantity obtained in the step (1) into the non-combined PCO estimation model obtained in the step (2) to obtain the PCO of the third frequency point.
The PCO of the third frequency point is calculated in a specific embodiment and compared with the prior art.
The historical observations were: the data processing time period is selected as a period of 2018 for one year, all MGEX measuring stations capable of receiving three-frequency observables of GPS are collected, about 110 measuring stations are provided, and three frequencies correspond to an L1 frequency point (a first frequency point), an L2 frequency point (a second frequency point) and an L5 frequency point (a third frequency point). Information of the observation model, the attraction model and the non-attraction model for PCO estimation is shown in Table I. It should be noted that since the Z-PCO is strongly correlated with the earth reference frame scale factor, a strong constraint is placed on all the ground station coordinates from the peri-solution file IGS. And for PCO of the L1 frequency point and the L2 frequency point, using an IGS product, and for the prior value of the L5 frequency point, the prior constraint of each component is 10, wherein the prior value of the L5 frequency point is the same as that of the L1 frequency point and the L2 frequency point.
Information of apparent observation model, gravitational model and non-gravitational model
The PCO horizontal time sequence (comprising X direction and Y direction) of the L5 frequency point of the G01 satellite and the G03 satellite and the change of the beta angle (sun altitude angle) are obtained by the non-combined PCO estimation model of the invention as shown in figure 2A schematic diagram in which the error of PCO is multiplied by a triple value to clearly show, it can be seen that the result of the horizontal time series value of PCO at the L5 frequency point is more discrete when the solar altitude angle is large, because the horizontal direction of PCO is more discrete than the D of the solar light pressure model (i.e., SRP model) 0 There is a correlation in the parameters.
Comparing the PCO of the L5 frequency point obtained by the invention with the PCO obtained by the prior art, wherein the first prior art is shown in figure 3, and figure 3 is the PCO of the G01 satellite and the G03 satellite obtained by adopting the IF combination strategy in the prior art. The annual horizontal time series in fig. 2 does not appear to be stabilized on a value, which is not consistent with the results obtained in fig. 3. Fig. 3 shows that the time series of the remaining periods are more stable in one value than the estimated result of the L5 frequency point, except for the high solar altitude period and the partial star erosion period. 4-1 and 4-2, the PCO horizontal time sequence of the L1 frequency point and the L2 frequency point obtained by adopting a double-frequency non-combination strategy (namely UC strategy) has similar trend of the two frequency points, and the PCO obtained by adopting the UC strategy and the PCO obtained by estimating the L5 frequency point can be found to have similar characteristics, namely the PCO horizontal time sequence of the whole year has fluctuation, the reasons are that the PCO between the three frequency points has correlation, and the difference between the PCO coefficient matrix of the L5 frequency point and the values of the L1 frequency point and the L2 frequency point only exists on sight vectors of different frequency points, so the difference is small.
D considering PCO level time series and SRP model 0 There is a strong correlation of the parameters, for which purpose D is checked 0 As a result of (a). FIG. 5 depicts D for a G09 satellite 0 Numerical sequence result with solar altitude as X-axis, D 0 The value of (2) is relatively stable. This indicates that the SRP model used in the present invention is suitable and is appropriate for D 0 Parameter addition of 0.1nm/s 2 Is a constraint of (a).
Likewise, by using the non-combined PCO estimation model of the present invention, a schematic diagram (including Z direction) of the PCO vertical time sequence of the L5 frequency points of the G01 satellite, the G03 satellite, the G06 satellite, and the G08 satellite (including the Z direction), in which the PCO error is multiplied by a triple value to clearly show, is also obtained as shown in fig. 6, and it can be seen that, compared with the prior art, the PCO vertical time sequence of the L5 frequency points is relatively stable, the PCO vertical time sequence obtained by the IF strategy shown in fig. 7 in the first prior art has no significant trend term, while the PCO vertical time sequence of the L1 frequency points and the L2 frequency points shown in fig. 8-1 and 8-2 in the second prior art has no trend term, and the trend term for the L2 frequency points is significantly greater than the L1 frequency points, but the overall trend of the L1 frequency points and the L2 frequency points are consistent.
And (3) integrating the horizontal time sequence and the vertical time sequence of the PCO to obtain an accurate PCO estimated value, taking the result average value of the solar altitude angle of 5-40 degrees as the final PCO estimated result of one satellite to obtain the PCO of the L5 frequency point, wherein the medium error magnitude of each satellite is basically equivalent, the average medium error value of the X and Y directions is 0.2cm and 0.2cm respectively, and the average medium error value of the Z direction is 1.6cm.
The PCO of the third frequency point is accurately calculated through the non-combined PCO estimation model, and the PCO is superior to PCO directly using adjacent frequency points, so that the accuracy of determining the precise orbit and the clock error can be improved, the PCO can be applied to solving the scale parameters of the earth reference frame, refining the satellite light pressure model, researching the second order term influence of ionosphere delay and the like, and high-accuracy positioning is realized.
Satellite antenna phase center deviation calculation device embodiment:
the satellite antenna phase center deviation calculating device comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the satellite antenna phase center deviation calculating method when executing the computer program.
The specific implementation process and effect of the satellite antenna phase center deviation calculation method are described in the embodiment of the satellite antenna phase center deviation calculation method, and are not described here.
That is, the method in the above satellite antenna phase center deviation calculation method embodiment should be understood that the flow of the satellite antenna phase center deviation calculation method may be implemented by computer program instructions. These computer program instructions may be provided to a processor, such as a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus, etc., such that the instructions, which execute via the processor, create means for implementing the functions specified in the above-described method flows.
The processor in this embodiment refers to a microprocessor MCU or a processing device such as a programmable logic device FPGA;
the memory according to the present embodiment is used for storing computer program instructions for implementing a satellite antenna phase center deviation calculation method, and includes a physical device for storing information, where the information is typically stored in a medium using an electrical, magnetic or optical method after being digitized. For example: various memories, RAM, ROM and the like for storing information by utilizing an electric energy mode; various memories for storing information by utilizing a magnetic energy mode, such as a hard disk, a floppy disk, a magnetic tape, a magnetic core memory, a bubble memory and a U disk; various memories, CDs or DVDs, which store information optically. Of course, there are other ways of storing, such as quantum storing, graphene storing, etc.
The satellite antenna phase center deviation calculating device formed by the memory and the processor, which are stored with the computer program instructions for realizing the satellite antenna phase center deviation calculating method, is realized by executing corresponding program instructions by the processor in the computer, and the computer can be realized in an intelligent terminal by using a windows operating system, a linux system or other program design languages, such as android and iOS systems, and is realized by processing logic based on a quantum computer.
As other embodiments, the satellite antenna phase center deviation calculating device may further include other processing hardware, such as a database or a multi-level buffer, a GPU, etc., and the structure of the satellite antenna phase center deviation calculating device is not specifically limited in the present invention.
Claims (5)
1. The satellite antenna phase center deviation calculating method is characterized by comprising the following steps of:
1) Acquiring historical observables of each measuring station;
2) Based on a basic observation equation of a GNSS, establishing a non-combined PCO estimation model, wherein the non-combined PCO estimation model comprises a pseudo-range equation and a carrier phase equation of each frequency point; each frequency point comprises a first frequency point, a second frequency point and a third frequency point;
3) Obtaining PCO of a third frequency point according to the historical observables and the non-combined PCO estimation model; PCO refers to antenna phase center offset;
the non-combined PCO estimation model is:
wherein ,
the pseudo range of the station r at the first frequency point is measured for the satellite s; />
A sight vector of a satellite s and a station r; phi (t) 0 ,t) s From the initial time t for satellite s 0 A state transition matrix to the current time t; />
Initial state parameters representing satellites s, including position, velocity, and force model parameters; x is x r Position vector for station r; />
A projection function of a satellite s and a station r; t (T) r Tropospheric delay for station r; c is the speed of light; />
Measuring the clock difference of the station r after parameter recombination; />
The clock difference of the satellite s after parameter recombination is given; />
Ionospheric delay for the first frequency point after parameter reorganization; gamma ray 1 Ionospheric delay coefficients for the first frequency points; epsilon 1 The measurement error of the first frequency point pseudo range is obtained; />
The pseudo range of the station r at the second frequency point is measured for the satellite s; gamma ray 2 Ionospheric delay coefficients for the second frequency points; epsilon 2 The measurement error of the second frequency point pseudo range is obtained; />
The pseudo range of the station r at a third frequency point is measured for the satellite s; e, e s A satellite-fixed system coordinate vector of the satellite s in a reference coordinate system; />
PCO correction vector of the third frequency point of the satellite s; gamma ray 3 Ionospheric delay coefficients for the third frequency point; epsilon 3 The measurement error of the third frequency point pseudo range is obtained; />
The carrier phase of the station r at the first frequency point is measured for the satellite s;
the carrier phase of the station r at the second frequency point is measured for the satellite s; />
The carrier phase of the station r at a third frequency point is measured for the satellite s; h r A deviation term of a third frequency point of the measuring station r; />
The deviation term of the third frequency point of the satellite s after parameter recombination; />
The ambiguity parameters of the first frequency point after parameter recombination are obtained; />
The ambiguity parameters of the second frequency point after parameter recombination are obtained; />
And the ambiguity parameters of the third frequency point after parameter recombination are obtained.
2. The method of claim 1, wherein in the non-combined PCO estimation model, the deviation term H of the third frequency point of the station r is measured r The method comprises the steps that a station r does not harden a component of delay of a piece in pseudo range of each frequency point:
H r ＝-(αB r,1 +βB r,2 )-γ 3 β(B r,1 -B r,2 )+B r,3 ；
wherein ,Br,1 The method comprises the steps that a hardening member delay component is not generated when a station r is in pseudo range of a first frequency point; b (B) r,2 A delay component of the hardening member is not hardened when the station r is in the pseudo range of the second frequency point; b (B) r,3 A delay component of the hardening member is not hardened for the station r in the pseudo range of the third frequency point;
f 1 f is the frequency of the first frequency point 2 Is the frequency of the second frequency point.
3. The method of claim 1, wherein in the non-combined PCO estimation model, the deviation term of the third frequency point of the satellite s after parameter recombination
The method comprises the steps of enabling a satellite s to have a carrier phase time-varying hardware delay component of each frequency point and a pseudo-range time-varying hardware delay component: />
wherein ,
a delay component of the hardening member is not hardened when the satellite s is in the pseudo range of the first frequency point; />
A delay component of the hardening member is not hardened when the satellite s is in the pseudo range of the second frequency point; />
A delay component of the hardening member is not hardened when the satellite s is in the pseudo range of the third frequency point; />
A carrier phase time-varying hardware delay component of the satellite s at a first frequency point; />
A carrier phase time-varying hardware delay component of the satellite s at a second frequency point; />
A carrier phase time-varying hardware delay component of the satellite s at a third frequency point; />
f 1 F is the frequency of the first frequency point 2 Is the frequency of the second frequency point.
4. The method of claim 1, wherein in the non-combined PCO estimation model, the ambiguity parameters of the third frequency point after parameter recombination
The satellite s does not harden a delay component of the component when in pseudo range of each frequency point; the station r does not harden a delay component of the piece when pseudo ranges of the first frequency point and the second frequency point are generated; station r does not harden the delay component at the carrier phase of the third frequency point and satellite s does not harden the delay component at the carrier phase of the third frequency point:
wherein ,λ3 The wavelength of the third frequency point;
the ambiguity parameters of the third frequency point before parameter recombination are used; b r,3 The delay component of the hardening member is not hardened when the station r is in the carrier phase of the third frequency point; />
A component of delay of the hardening member is not hardened for the satellite s at the carrier phase of the third frequency point; b (B) r,1 The method comprises the steps that a hardening member delay component is not generated when a station r is in pseudo range of a first frequency point; b (B) r,2 A delay component of the hardening member is not hardened when the station r is in the pseudo range of the second frequency point; />
A delay component of the hardening member is not hardened when the satellite s is in the pseudo range of the first frequency point; />
A delay component of the hardening member is not hardened when the satellite s is in the pseudo range of the second frequency point; />
A delay component of the hardening member is not hardened when the satellite s is in the pseudo range of the third frequency point;
5. A satellite antenna phase center deviation calculation device comprising a processor, a memory and a computer program stored in the memory and executable on the processor, the processor implementing the satellite antenna phase center deviation calculation method according to any one of claims 1-4 when executing the computer program.
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