CN114019548A - Pseudo range deviation correction method for single-frequency service of satellite-based augmentation system - Google Patents

Pseudo range deviation correction method for single-frequency service of satellite-based augmentation system Download PDF

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CN114019548A
CN114019548A CN202111160877.3A CN202111160877A CN114019548A CN 114019548 A CN114019548 A CN 114019548A CN 202111160877 A CN202111160877 A CN 202111160877A CN 114019548 A CN114019548 A CN 114019548A
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赵立谦
金彪
陈姗姗
董启甲
王雷雷
李子潇
潘丽静
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Space Star Technology Co Ltd
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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
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • 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
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

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Abstract

A pseudo range bias correction method for single frequency service of a satellite-based augmentation system comprises the following steps: optionally selecting 1 satellite-based augmentation system reference station receiver as a reference receiver, and calibrating an IFB parameter value of the reference receiver (the IFB parameter value is a receiver inter-frequency difference parameter value); fixing IFB parameter values of the reference receiver, and resolving TGD parameter values (satellite frequency difference parameter values) corresponding to a plurality of GPS satellites respectively by using a plurality of reference station receiver observation data including the reference receiver; subtracting the TGD parameter values of the plurality of GPS satellites from the TGD parameter values broadcast in the GPS navigation message to obtain pseudo-range deviation values corresponding to each GPS satellite; and respectively carrying out pseudo-range deviation correction processing on the clock error correction number of each GPS satellite by using the pseudo-range deviation value corresponding to each GPS satellite. The method and the device can eliminate the adverse effect of pseudo-range deviation on the positioning accuracy of the satellite-based enhanced single-frequency user, and improve the single-frequency service performance of the satellite-based enhanced system.

Description

Pseudo range deviation correction method for single-frequency service of satellite-based augmentation system
Technical Field
The invention belongs to the technical field of satellite navigation, and particularly relates to a pseudo-range deviation correction method for single-frequency service of a satellite-based augmentation system.
Background
Receivers of different manufacturers (different technical states) can generate pseudorange measurement constant deviations with different sizes and symbols, namely pseudorange deviations, for the same satellite downlink navigation signal. The root cause of the pseudo-range bias is the irrational nature of the downlink signals of the navigation satellites. In satellite navigation satellite-based augmentation services, pseudorange bias is an important error source.
Satellite-based augmentation systems typically provide both single and dual frequency services. Under the single-frequency service mode, the system broadcasts the SBAS correction number and the integrity information to a GPS L1CA single-frequency user in a service area through a B1C signal of a GEO satellite, and the accuracy enhancement and the integrity enhancement are realized. If the type and the technical state of a GPS receiver of a reference station of a satellite-based augmentation system for calculating the correction number are greatly different from those of a GPS ground operation control receiver, and the reference station receiver does not completely adjust parameters such as the correlator interval of the receiver and the front-end filtering bandwidth by referring to the GPS operation control receiver, relative pseudo-range deviation inevitably exists between the reference station receiver and the GPS ground operation control receiver.
Because the satellite-based augmentation system usually uses L1CA/L2P dual-frequency combined pseudo-range observation data to calculate satellite orbit and clock error correction numbers, pseudo-range deviation between a reference station GPS receiver and a GPS ground operation control receiver is amplified by a dual-frequency combination coefficient and then absorbed into the satellite clock error correction numbers. When the correcting number is used for positioning the L1CA/L2P double-frequency user receiver with the same technical state as the reference station receiver, because the double-frequency user side positioning observation equation contains pseudo-range deviation with the same size (the double-frequency combination coefficient is amplified by times), the pseudo-range deviation contained in the correcting number can be counteracted, and the double-frequency user positioning accuracy enhancement effect is obvious; however, when the correction number is used to position the L1CA single frequency user receiver in the same technical state as the reference station receiver, since the L1CA single frequency user terminal positioning observation equation only includes the pseudo range deviation of 1 time of the L1CA frequency point, and the pseudo range deviation size after the amplification double-frequency combination coefficient included in the correction number does not conform to the pseudo range deviation size, the non-conforming part will inevitably cause the non-ideal single frequency user enhanced positioning accuracy, thereby reducing the single frequency service performance of the satellite-based enhanced system.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method overcomes the defects of the prior art, provides a pseudo-range deviation correction method for the single-frequency service of the satellite-based augmentation system, eliminates the adverse effect of the pseudo-range deviation on the positioning precision of the satellite-based augmentation single-frequency user, and improves the single-frequency service performance of the satellite-based augmentation system.
The technical solution of the invention is as follows:
a pseudo range deviation correction method aiming at single frequency service of a satellite-based augmentation system comprises the following steps:
1) randomly selecting 1 reference station receiver from m +1 reference station receivers of a satellite-based augmentation system as a reference receiver, and using the rest m reference station receivers as general receivers; calibrating an IFB parameter value of a reference receiver;
2) fixing IFB parameter values of the reference receiver, resolving the parameter values by using m +1 reference station receiver observation data including the reference receiver and adopting a least square parameter estimation method, and determining TGD parameter values corresponding to n GPS satellites respectively;
3) subtracting the TGD parameter values of the n GPS satellites in the step 2) from the TGD parameter values broadcasted in the GPS navigation message to obtain pseudo-range deviation values corresponding to each GPS satellite;
4) and 3) respectively carrying out pseudo-range deviation correction processing on the clock deviation correction number of each GPS satellite by utilizing the pseudo-range deviation value corresponding to each GPS satellite in the step 3).
Compared with the prior art, the invention has the advantages that:
aiming at the condition that a reference station receiver cannot completely refer to a GPS operation control receiver to adjust hardware parameters such as a receiver correlator interval, a front end filter bandwidth and the like, the invention provides a pseudo-range deviation correction method aiming at a satellite-based augmentation system single-frequency service from the data processing angle, namely, a TGD parameter of a GPS satellite is solved by utilizing observation data of the reference station receiver of the satellite-based augmentation system, the difference between the TGD parameter and the TGD parameter broadcasted in a GPS navigation message is compared, and the pseudo-range deviation correction between the reference station receiver and the GPS ground operation control receiver is realized based on the difference of the two types of TGD parameters. The method of the invention has the advantages of easy acquisition of the required data, simple and convenient process and easy realization.
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FIG. 1 shows a pseudo-range deviation value of each satellite of a GPS obtained by resolving;
FIG. 2 shows a Beijing station user receiver positioning error sequence before and after pseudo-range bias correction;
FIG. 3 is a flow chart of the method of the present invention.
Detailed Description
The invention relates to a pseudo-range deviation correction method for single frequency service of a satellite-based augmentation system, which comprises the following steps as shown in figure 3:
1) randomly selecting 1 reference station receiver from m +1 reference station receivers of a satellite-based augmentation system as a reference receiver, and using the rest m reference station receivers as general receivers; calibrating an IFB parameter value of a reference receiver (the IFB parameter value is a receiver frequency difference parameter value); m is a positive integer greater than 10;
2) fixing IFB parameter values of the reference receiver, resolving the parameter values by using m +1 reference station receiver observation data including the reference receiver and adopting a least square parameter estimation method, and determining TGD parameter values (satellite inter-frequency difference parameter values) corresponding to n GPS satellites respectively; n is a positive integer greater than 30;
3) subtracting the TGD parameter values of the n GPS satellites in the step 2) from the TGD parameter values broadcasted in the GPS navigation message to obtain pseudo-range deviation values corresponding to each GPS satellite;
4) and 3) respectively carrying out pseudo-range deviation correction processing on the clock deviation correction number of each GPS satellite by utilizing the pseudo-range deviation value corresponding to each GPS satellite in the step 3).
Step 4) the method for respectively performing pseudo-range deviation correction processing on the clock error correction number of each GPS satellite specifically comprises the following steps:
and (3) deducting the pseudo-range deviation value corresponding to each GPS satellite in the step 3) from the clock error correction numbers of the n GPS satellites calculated by the satellite-based augmentation system.
The method for calibrating the IFB parameter value of the reference receiver in the step 1) specifically comprises the following steps:
11) obtaining P1-C1 CODE deviation parameter values corresponding to each GPS satellite issued by a CODE analysis center, correcting C1 CODE single-frequency pseudo-range observation values of the reference receiver to each GPS satellite according to the P1-C1 CODE deviation parameter values, and determining P1 CODE single-frequency pseudo-range observation values of the reference receiver to each GPS satellite; the determination method comprises the following steps:
Figure BDA0003290138710000041
wherein the content of the first and second substances,
Figure BDA0003290138710000042
for a single frequency pseudorange observation of the reference receiver to the C1 code of GPS satellite j,
Figure BDA0003290138710000043
P1-C1 inter-CODE bias parameter values for GPS satellite j issued by the CODE analysis center,
Figure BDA0003290138710000044
a single frequency pseudorange observation for the reference receiver for the P1 code of GPS satellite j.
12) And calculating the inclined path ionospheric delay amount from each GPS satellite to the reference receiver by using the grid ionospheric delay correction number broadcasted by the satellite-based augmentation system.
13) And determining a GPS P1 code single-frequency pseudo range observation value after ionospheric delay correction according to the inclined path ionospheric delay obtained in the step 12) and the P1 code single-frequency pseudo range observation value of the reference receiver for each GPS satellite obtained in the step 11). The method comprises the following specific steps:
Figure BDA0003290138710000045
wherein the content of the first and second substances,
Figure BDA0003290138710000046
a single-frequency pseudo-range observation value of the P1 code of the reference receiver to the GPS satellite j obtained in the step 11),
Figure BDA0003290138710000047
the ionospheric delay amount of the inclined path from the GPS satellite j to the reference receiver obtained in said step 12),
Figure BDA0003290138710000048
and correcting the P1 code single-frequency pseudo range observation value of the GPS satellite j after the ionospheric delay amount is corrected for the reference receiver.
14) Determining a difference value between a single-frequency pseudo range and a double-frequency pseudo range of each GPS satellite according to a P1 code single-frequency pseudo range observation value obtained by correcting the ionospheric delay quantity of each GPS satellite by the reference receiver obtained in the step 13) and according to a P1/P2 code double-frequency ionospheric-free combined pseudo range observation value; step 14) the method for determining the difference between the single-frequency pseudo range and the double-frequency pseudo range of each GPS satellite specifically comprises the following steps:
Figure BDA0003290138710000049
wherein the content of the first and second substances,
Figure BDA00032901387100000410
for the single-frequency pseudo range observation value of P1 code after the ionospheric delay amount of the GPS satellite j is corrected by the reference receiver,
Figure BDA00032901387100000411
for the P1/P2 code dual frequency ionosphere-free combined pseudorange observations of the reference receiver for GPS satellite j,
Figure BDA00032901387100000412
the difference between the single-frequency pseudo range and the double-frequency pseudo range of the GPS satellite j is obtained.
15) Calculating the average value of the difference values of the single-frequency pseudo ranges and the double-frequency pseudo ranges of all the GPS satellites according to the difference values between the single-frequency pseudo ranges and the double-frequency pseudo ranges of all the GPS satellites obtained in the step 14) to be used as the IFB parameter value of the reference receiver. Step 15) the method for calculating the average value of the difference values of the single-frequency pseudoranges and the double-frequency pseudoranges of all the GPS satellites specifically comprises the following steps:
Figure BDA0003290138710000051
wherein the content of the first and second substances,
Figure BDA0003290138710000052
is the difference value of single and double frequency pseudo range of GPS satellite j, n is the number of GPS satellites, IFBrefTo calculate the resulting IFB parameter values for the reference receiver.
The step 2) of determining the method parameter value parameter values of the TGD parameter values respectively corresponding to the n GPS satellites specifically comprises the following steps:
21) obtaining P1-C1 CODE deviation parameter values corresponding to n GPS satellites issued by a CODE analysis center, respectively correcting C1 CODE single-frequency pseudo-range observation values of m +1 reference station receivers to the n GPS satellites by using the P1-C1 CODE deviation parameter values corresponding to each GPS satellite, and obtaining P1 CODE single-frequency pseudo-range observation values of each reference station receiver to each GPS satellite;
step 21) the method for obtaining the P1 code single-frequency pseudo-range observed value of each reference station receiver to each GPS satellite specifically comprises the following steps:
for GPS satellite j and reference station receiver i:
Figure BDA0003290138710000053
wherein the content of the first and second substances,
Figure BDA0003290138710000054
for a single frequency pseudorange observation of the C1 code for the reference station receiver i to the GPS satellite j,
Figure BDA0003290138710000055
P1-C1 inter-CODE bias parameter values for GPS satellite j issued by the CODE analysis center,
Figure BDA0003290138710000056
a single frequency pseudorange observation of the P1 code for the reference station receiver i to the GPS satellite j.
22) Calculating the inclined path ionospheric delay amount from each GPS satellite to each reference station receiver by using the grid ionospheric delay correction number broadcast by the satellite-based augmentation system;
23) obtaining a GPS P1 code single-frequency pseudo range observation value after ionospheric delay correction according to the inclined path ionospheric delay amount obtained in the step 22) and according to the P1 code single-frequency pseudo range observation value of each GPS satellite obtained in the step 21) by each reference station receiver;
step 23) the method for obtaining the ionospheric delay amount-corrected single-frequency pseudo-range observation value of the GPS P1 code specifically includes:
for GPS satellite j and reference station receiver i:
Figure BDA0003290138710000061
wherein the content of the first and second substances,
Figure BDA0003290138710000062
obtaining a single-frequency pseudo-range observation value of the P1 code of the reference station receiver i to the GPS satellite j in the step 21),
Figure BDA0003290138710000063
the ionospheric delay of the inclined path from the GPS satellite j to the reference station receiver i obtained in the step 22),
Figure BDA0003290138710000064
and correcting the ionospheric delayed single-frequency pseudo-range observed value of the P1 code for the GPS satellite j by the receiver i of the reference station.
24) According to the ionospheric delay-corrected single-frequency pseudo-range observation value of the GPS P1 code obtained in the step 23), taking the IFB parameter value of the reference receiver obtained by calibration in the step 1) as a resolving reference, and performing resolving processing by adopting a least square adjustment method to obtain TGD parameter values respectively corresponding to n GPS satellites.
Step 24) the method for obtaining the TGD parameter values respectively corresponding to the n GPS satellites specifically includes:
for a GPS satellite j and a reference station receiver i, the observation equation for least squares adjustment is as follows:
Figure BDA0003290138710000065
wherein the content of the first and second substances,
Figure BDA0003290138710000066
the ionospheric delayed single-frequency pseudorange observations of P1 code are corrected for the GPS satellite j for the reference station receiver i,
Figure BDA0003290138710000067
P1/P2 code dual frequency ionosphere free combined pseudorange observations, IFBs, for a reference station receiver i to a GPS satellite jiFor IFB parameter values, TGD, of reference station receiver ijIs the TGD parameter value, IFB, of GPS satellite jiAnd TGDjIs the parameter value to be solved of the observation equation.
The method for obtaining the pseudo-range deviation values respectively corresponding to the n GPS satellites in the step 3) specifically comprises the following steps:
making a difference between the TGD parameter values respectively corresponding to the n GPS satellites in the step 2) and the TGD parameter values broadcasted in the GPS navigation message, thereby obtaining pseudo-range deviation values respectively corresponding to the n GPS satellites;
with respect to the GPS satellite j,
Figure BDA0003290138710000068
wherein, TGDjThe TGD parameter value of the GPS satellite j calculated in step 24),
Figure BDA0003290138710000069
for the TGD parameter value, bias, of GPS satellite j broadcast in GPS navigation messagejIs the pseudorange bias value for GPS satellite j.
Step 4) the method for performing pseudo-range deviation correction processing on the clock error correction number of the GPS satellite specifically comprises the following steps:
for GPS satellite j:
Figure BDA0003290138710000071
and deducting the pseudo-range deviation value from the satellite clock error correction number calculated by the satellite-based augmentation system.
Wherein the content of the first and second substances,
Figure BDA0003290138710000072
satellite clock error correction, bias, for GPS satellites j calculated for a satellite based augmentation system using dual frequency observation datajThe pseudo range deviation value of the GPS satellite j calculated in the step 3),
Figure BDA0003290138710000073
the correction number of the satellite clock error which is finally broadcast to the user after the pseudo-range deviation is corrected.
The invention is described in further detail below with reference to the figures and the detailed description.
In this embodiment, a pseudo-range bias correction principle analysis for a single frequency service of a satellite-based augmentation system is provided, which specifically includes:
the main reason influencing the enhancement precision of the satellite-based augmentation system to the L1CA single-frequency user is that the satellite clock correction number contains pseudo-range deviation after double-frequency combination, while the single-frequency GPS user end of the satellite-based augmentation system only receives pseudo-range deviation 1 times of L1 frequency point C/A code, if the pseudo-range deviation mutual difference between the L1 frequency point and the L1/L2 combined frequency point between the satellite-based augmentation system reference station receiver and the GPS ground operation and control receiver can be obtained, the value can be deducted from the satellite clock correction number, and therefore the non-self-consistency of the satellite clock correction number and the user end is eliminated.
The pseudo-range observation equation of the receiver i for the F1 frequency point and the F2 frequency point of the satellite j is assumed as follows:
Figure BDA0003290138710000074
Figure BDA0003290138710000075
in the two formulae, Pi j(F1) And Pi j(F2) For receiver i, the pseudorange observations of satellite j at two frequency points F1 and F2,
Figure BDA0003290138710000076
for satellite-to-ground geometric distances, δ t, calculated using broadcast ephemerisiAnd δ tjRespectively receiver i clock offset and satellite j clock offset,
Figure BDA0003290138710000077
and
Figure BDA0003290138710000078
receiver code bias parameters for F1 and F2 frequency bins,
Figure BDA0003290138710000079
and
Figure BDA00032901387100000710
satellite code bias parameters of F1 and F2 frequency points respectively,
Figure BDA00032901387100000711
and
Figure BDA00032901387100000712
ionospheric delays for the two frequency bins F1 and F2,
Figure BDA0003290138710000081
and
Figure BDA0003290138710000082
effect of tropospheric delay and relativistic effects, epherri jAt receiver i to satellite for broadcast ephemeris errorj the projection in the direction of the line of sight,
Figure BDA0003290138710000083
and
Figure BDA0003290138710000084
the pseudorange bias at two frequency points F1 and F2 for receiver i to satellite j respectively,
Figure BDA0003290138710000085
the pseudoranges for receiver i to satellite j are multipath and noise.
And (3) subtracting the pseudo range of the F1 frequency point from the pseudo range of the F2 frequency point:
Figure BDA0003290138710000086
in the formula (I), the compound is shown in the specification,
Figure BDA0003290138710000087
if the formula is used as an observation equation, the code deviation parameter in the formula is used
Figure BDA0003290138710000088
And
Figure BDA0003290138710000089
as the parameter to be estimated, it can be found that the code bias parameter to be estimated is completely related to the pseudo-range bias parameter, and the difference between the pseudo-range biases of the two frequency points F1 and F2 will be completely absorbed into the satellite code bias parameter
Figure BDA00032901387100000810
And receiver code offset parameter
Figure BDA00032901387100000811
In (1).
As all receivers with the same model respond to the nonideal characteristics of the navigation signals identically, the receivers are divided into a plurality of subsets according to the model of the receivers, and the satellite TGD parameters are respectively solved by utilizing the observation data of all the receivers of each subset. By comparing the satellite TGD parameters resolved by each subset, the mutual difference of the pseudo-range deviation among different receivers among different frequency points can be obtained.
Therefore, when the GPS satellite TGD parameter is solved by the reference station receiver of the satellite-based augmentation system, the difference between the pseudo-range deviation of the reference station receiver GPS L1 frequency point and the L1/L2 combined frequency point is absorbed into the solved TGD parameter. The TGD parameter broadcasted in the GPS navigation message is obtained by resolving by the GPS ground operation and control receiver, so that the difference between the L1 frequency point and the L1/L2 combined frequency point pseudo-range deviation of the GPS ground operation and control receiver is also absorbed. And comparing the difference between the TGD parameter calculated by the reference station receiver of the satellite-based augmentation system and the TGD parameter broadcasted in the GPS navigation message to obtain the pseudo-range deviation mutual difference between the L1 frequency point and the L1/L2 combined frequency point between the reference station receiver of the satellite-based augmentation system and the GPS ground operation and control receiver.
In this embodiment, taking a beidou satellite-based augmentation system (BDSBAS) as an example, a pseudo-range bias correction real example for a single-frequency service of a satellite-based augmentation system is provided, which specifically includes:
1) by utilizing 20 BDSBAS reference station receivers in China, 1 of the BDSBAS reference station receivers is selected as a reference station receiver, and the other 19 BDSBAS reference station receivers are selected as general receivers. And calibrating the IFB parameter value of the reference receiver by using the steps 11) to 15) in the claims.
2) Fixing IFB parameter values of the reference receiver, using 20 reference station receiver observation data including the reference receiver, and using steps 21) -24) in the claims, determining TGD parameter values corresponding to 32 GPS satellites respectively.
3) And (3) subtracting the TGD parameter values of the 32 GPS satellites in the step (2) from the TGD parameter values broadcasted in the GPS navigation message to obtain pseudo-range deviation values corresponding to each GPS satellite.
Fig. 1 is a pseudorange bias values (bias parameters) resolved using one-day observations of 20 BDSBAS receivers. It can be seen from the results in fig. 1 that the magnitude of the parameter of different satellites is different, and the absolute value of the difference is up to approximately 1.7 m. The consistency of the pseudo-range deviation values calculated for multiple days is analyzed, and the table 1 shows the repeatability statistics (standard deviation) of the pseudo-range deviation correction parameters calculated for 7 days by each satellite of the GPS. From the statistical results in table 1, the resolving repeatability of each star parameter is better than 5 cm.
TABLE 1GPS pseudorange bias value 7 day solution repeatability statistics
Figure BDA0003290138710000091
4) And (3) deducting the pseudo range deviation value corresponding to each GPS satellite in the clock error correction numbers of the 32 GPS satellites calculated by the BDSBAS, so as to realize the correction of the pseudo range deviation.
In order to verify the influence of pseudo-range deviation correction on the single-frequency service precision of the satellite-based augmentation system, the service precision of BDSBAS on a GPS L1CA single-frequency user before and after pseudo-range deviation correction is evaluated and compared. FIG. 2 shows Beijing station user receiver positioning error sequences before and after pseudorange bias correction. The positioning accuracy is obviously improved after the pseudo-range deviation is corrected by observing a positioning error sequence of a Beijing station for one day. In order to further statistically analyze the positioning accuracy before and after the pseudo-range deviation is corrected, the average positioning accuracy of the user receivers of 6 stations, i.e., beijing, karsh, harbin, carraguaqi, rui and navian, is now counted for 7 days, and the statistical result is shown in table 2. Meanwhile, in order to more intuitively represent the accuracy enhancement performance of the BDSBAS on the GPS L1CA single-frequency user, the positioning accuracy in the basic navigation mode is also given in table 2.
Table 2 user receiver 7 balance mean positioning error of each station (95%)
Figure BDA0003290138710000101
As can be seen from the statistical results in table 2, after the pseudorange bias is corrected, the average 95% positioning accuracy of each station under BDSBAS enhancement is obviously improved compared with that without the pseudorange bias, where the horizontal positioning error is reduced from 1.70m to 1.38m, and the elevation positioning error is reduced from 2.83m to 2.29 m. After the pseudo-range deviation is corrected, the enhancement effect of the BDSBAS on the L1CA single-frequency users is more ideal, and the positioning accuracy is far better than the positioning accuracy of 2.32m of the basic navigation level and 3.95m of the elevation.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.

Claims (11)

1. A pseudo range deviation correction method aiming at single frequency service of a satellite-based augmentation system is characterized by comprising the following steps:
1) randomly selecting 1 reference station receiver from m +1 reference station receivers of a satellite-based augmentation system as a reference receiver, and using the rest m reference station receivers as general receivers; calibrating an IFB parameter value of a reference receiver;
2) fixing IFB parameter values of the reference receiver, resolving the parameter values by using m +1 reference station receiver observation data including the reference receiver and adopting a least square parameter estimation method, and determining TGD parameter values corresponding to n GPS satellites respectively;
3) subtracting the TGD parameter values of the n GPS satellites in the step 2) from the TGD parameter values broadcasted in the GPS navigation message to obtain pseudo-range deviation values corresponding to each GPS satellite;
4) and 3) respectively carrying out pseudo-range deviation correction processing on the clock deviation correction number of each GPS satellite by utilizing the pseudo-range deviation value corresponding to each GPS satellite in the step 3).
2. The pseudorange bias correction method for single frequency service of satellite-based augmentation system according to claim 1, wherein the method for calibrating IFB parameter values of the reference receiver in step 1) specifically comprises:
11) obtaining P1-C1 CODE deviation parameter values corresponding to each GPS satellite issued by a CODE analysis center, correcting C1 CODE single-frequency pseudo-range observation values of the reference receiver to each GPS satellite according to the P1-C1 CODE deviation parameter values, and determining P1 CODE single-frequency pseudo-range observation values of the reference receiver to each GPS satellite; the determination method comprises the following steps:
Figure FDA0003290138700000011
wherein the content of the first and second substances,
Figure FDA0003290138700000012
for a single frequency pseudorange observation of the reference receiver to the C1 code of GPS satellite j,
Figure FDA0003290138700000013
P1-C1 inter-CODE bias parameter values for GPS satellite j issued by the CODE analysis center,
Figure FDA0003290138700000014
a P1 code single-frequency pseudo range observation value of a GPS satellite j is taken as a reference receiver;
12) calculating the inclined path ionospheric delay amount from each GPS satellite to the reference receiver by using the grid ionospheric delay correction number broadcast by the satellite-based augmentation system;
13) determining a GPS P1 code single-frequency pseudo range observation value after ionospheric delay correction according to the inclined path ionospheric delay obtained in the step 12) and the P1 code single-frequency pseudo range observation value of each GPS satellite obtained in the step 11) by the reference receiver; the method comprises the following specific steps:
Figure FDA0003290138700000021
wherein the content of the first and second substances,
Figure FDA0003290138700000022
for the step 11) to obtainThe incoming reference receiver has a single frequency pseudorange observation for the P1 code of GPS satellite j,
Figure FDA0003290138700000023
the ionospheric delay amount of the inclined path from the GPS satellite j to the reference receiver obtained in said step 12),
Figure FDA0003290138700000024
correcting a P1 code single-frequency pseudo range observation value of a GPS satellite j ionosphere delay amount for a reference receiver;
14) determining a difference value between a single-frequency pseudo range and a double-frequency pseudo range of each GPS satellite according to a P1 code single-frequency pseudo range observation value obtained by correcting the ionospheric delay quantity of each GPS satellite by the reference receiver obtained in the step 13) and according to a P1/P2 code double-frequency ionospheric-free combined pseudo range observation value; step 14) the method for determining the difference between the single-frequency pseudo range and the double-frequency pseudo range of each GPS satellite specifically comprises the following steps:
Figure FDA0003290138700000025
wherein the content of the first and second substances,
Figure FDA0003290138700000026
for the single-frequency pseudo range observation value of P1 code after the ionospheric delay amount of the GPS satellite j is corrected by the reference receiver,
Figure FDA0003290138700000027
for the P1/P2 code dual frequency ionosphere-free combined pseudorange observations of the reference receiver for GPS satellite j,
Figure FDA0003290138700000028
the difference value between the single-frequency pseudo range and the double-frequency pseudo range of the GPS satellite j is obtained;
15) calculating the average value of the difference values of the single-frequency pseudo ranges and the double-frequency pseudo ranges of all the GPS satellites according to the difference values between the single-frequency pseudo ranges and the double-frequency pseudo ranges of all the GPS satellites obtained in the step 14) and taking the average value as the IFB parameter value of the reference receiver; step 15) the method for calculating the average value of the difference values of the single-frequency pseudoranges and the double-frequency pseudoranges of all the GPS satellites specifically comprises the following steps:
Figure FDA0003290138700000029
wherein the content of the first and second substances,
Figure FDA00032901387000000210
is the difference value of single and double frequency pseudo range of GPS satellite j, n is the number of GPS satellites, IFBrefTo calculate the resulting IFB parameter values for the reference receiver.
3. The pseudorange bias correction method for the single frequency service of the satellite based augmentation system according to claim 2, wherein the method for respectively performing pseudorange bias correction processing on the clock bias correction number of each GPS satellite in step 4) specifically comprises:
and (3) deducting the pseudo-range deviation value corresponding to each GPS satellite in the step 3) from the clock error correction numbers of the n GPS satellites calculated by the satellite-based augmentation system.
4. The pseudorange bias correction method for single frequency service of the satellite-based augmentation system according to claim 2, wherein m is a positive integer greater than 10.
5. The method for pseudorange bias correction for single frequency service of satellite based augmentation system according to claim 2, wherein n is a positive integer greater than 30.
6. The pseudorange bias correction method for single frequency service of the satellite based augmentation system according to any one of claims 3 to 5, wherein the step 2) determines the method parameter value parameter values of the TGD parameter values corresponding to n GPS satellites respectively, specifically:
21) obtaining P1-C1 CODE deviation parameter values corresponding to n GPS satellites issued by a CODE analysis center, respectively correcting C1 CODE single-frequency pseudo-range observation values of m +1 reference station receivers to the n GPS satellites by using the P1-C1 CODE deviation parameter values corresponding to each GPS satellite, and obtaining P1 CODE single-frequency pseudo-range observation values of each reference station receiver to each GPS satellite;
22) calculating the inclined path ionospheric delay amount from each GPS satellite to each reference station receiver by using the grid ionospheric delay correction number broadcast by the satellite-based augmentation system;
23) obtaining a GPS P1 code single-frequency pseudo range observation value after ionospheric delay correction according to the inclined path ionospheric delay amount obtained in the step 22) and according to the P1 code single-frequency pseudo range observation value of each GPS satellite obtained in the step 21) by each reference station receiver;
24) according to the ionospheric delay-corrected single-frequency pseudo-range observation value of the GPS P1 code obtained in the step 23), taking the IFB parameter value of the reference receiver obtained by calibration in the step 1) as a resolving reference, and performing resolving processing by adopting a least square adjustment method to obtain TGD parameter values respectively corresponding to n GPS satellites.
7. The pseudorange bias correction method for single frequency service of the satellite-based augmentation system according to claim 6, wherein the step 21) is a method for obtaining P1 code single frequency pseudorange observed values of each reference station receiver to each GPS satellite, specifically:
for GPS satellite j and reference station receiver i:
Figure FDA0003290138700000041
wherein the content of the first and second substances,
Figure FDA0003290138700000042
for a single frequency pseudorange observation of the C1 code for the reference station receiver i to the GPS satellite j,
Figure FDA0003290138700000043
P1-C1 inter-CODE bias parameter values for GPS satellite j issued by the CODE analysis center,
Figure FDA0003290138700000044
a single frequency pseudorange observation of the P1 code for the reference station receiver i to the GPS satellite j.
8. The method for correcting the pseudorange bias for the single frequency service of the satellite-based augmentation system according to claim 6, wherein the method for obtaining the ionospheric delay-modified single frequency pseudorange observation value of the GPS P1 code in step 23) specifically comprises:
for GPS satellite j and reference station receiver i:
Figure FDA0003290138700000045
wherein the content of the first and second substances,
Figure FDA0003290138700000046
obtaining a single-frequency pseudo-range observation value of the P1 code of the reference station receiver i to the GPS satellite j in the step 21),
Figure FDA0003290138700000047
the ionospheric delay of the inclined path from the GPS satellite j to the reference station receiver i obtained in the step 22),
Figure FDA0003290138700000048
and correcting the ionospheric delayed single-frequency pseudo-range observed value of the P1 code for the GPS satellite j by the receiver i of the reference station.
9. The pseudorange bias correction method for single frequency service of the satellite based augmentation system according to claim 6, wherein the method for obtaining the TGD parameter values corresponding to the n GPS satellites in step 24) specifically comprises:
for a GPS satellite j and a reference station receiver i, the observation equation for least squares adjustment is as follows:
Figure FDA0003290138700000049
wherein the content of the first and second substances,
Figure FDA00032901387000000410
the ionospheric delayed single-frequency pseudorange observations of P1 code are corrected for the GPS satellite j for the reference station receiver i,
Figure FDA00032901387000000411
P1/P2 code dual frequency ionosphere free combined pseudorange observations, IFBs, for a reference station receiver i to a GPS satellite jiFor IFB parameter values, TGD, of reference station receiver ijIs the TGD parameter value, IFB, of GPS satellite jiAnd TGDjIs the parameter value to be solved of the observation equation.
10. The pseudorange bias correction method for single frequency service of the satellite-based augmentation system according to claim 6, wherein the method for obtaining the pseudorange bias values corresponding to n GPS satellites in step 3) specifically comprises:
making a difference between the TGD parameter values respectively corresponding to the n GPS satellites in the step 2) and the TGD parameter values broadcasted in the GPS navigation message, thereby obtaining pseudo-range deviation values respectively corresponding to the n GPS satellites;
with respect to the GPS satellite j,
Figure FDA0003290138700000051
wherein, TGDjThe TGD parameter value of the GPS satellite j calculated in step 24),
Figure FDA0003290138700000052
for the TGD parameter value, bias, of GPS satellite j broadcast in GPS navigation messagejIs the pseudorange bias value for GPS satellite j.
11. The pseudorange bias correction method for single frequency service of the satellite based augmentation system according to claim 6, wherein the method for performing pseudorange bias correction processing on the clock bias correction of the GPS satellite in step 4) specifically comprises:
for GPS satellite j:
Figure FDA0003290138700000053
wherein the content of the first and second substances,
Figure FDA0003290138700000054
satellite clock error correction, bias, for GPS satellites j calculated for a satellite based augmentation system using dual frequency observation datajThe pseudo range deviation value of the GPS satellite j calculated in the step 3),
Figure FDA0003290138700000055
the correction number of the satellite clock error which is finally broadcast to the user after the pseudo-range deviation is corrected.
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CN117335899B (en) * 2023-10-09 2024-04-19 中国人民解放军32021部队 Beidou satellite-based enhanced service degradation degree evaluation method

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