CN114779300A - Carrier phase ranging method based on pseudo-range constraint - Google Patents

Carrier phase ranging method based on pseudo-range constraint Download PDF

Info

Publication number
CN114779300A
CN114779300A CN202110078029.1A CN202110078029A CN114779300A CN 114779300 A CN114779300 A CN 114779300A CN 202110078029 A CN202110078029 A CN 202110078029A CN 114779300 A CN114779300 A CN 114779300A
Authority
CN
China
Prior art keywords
satellite
carrier phase
distance
ranging
phase
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202110078029.1A
Other languages
Chinese (zh)
Other versions
CN114779300B (en
Inventor
王霄
杨旭海
葛玉龙
杨海彦
张喆
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
University of Chinese Academy of Sciences
National Time Service Center of CAS
Original Assignee
University of Chinese Academy of Sciences
National Time Service Center of CAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by University of Chinese Academy of Sciences, National Time Service Center of CAS filed Critical University of Chinese Academy of Sciences
Priority to CN202110078029.1A priority Critical patent/CN114779300B/en
Publication of CN114779300A publication Critical patent/CN114779300A/en
Application granted granted Critical
Publication of CN114779300B publication Critical patent/CN114779300B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention provides a carrier phase ranging method based on pseudo-range constraint, which is used for calculating the whole-cycle part of a carrier phase and providing a novel scheme for measuring the satellite-ground distance by combining the decimal part of carrier phase ranging. Compared with the prior art, the method does not need to calculate ambiguity parameters, corrects the error in the initial satellite-ground distance through the mutual combination of the pseudo-range distance measurement and the carrier distance measurement to obtain an intermediate conversion expression, and determines a second satellite-ground distance formula after the carrier phase distance measurement error correction based on the wavelength of the carrier phase, the carrier phase distance measurement error, the model correction values of various error items in the carrier phase distance measurement and the intermediate conversion expression; and converting the first satellite-ground distance formula and the second satellite-ground distance formula, eliminating initial phase ambiguity, determining a final satellite-ground distance calculation formula, and calculating the satellite-ground distance of the carrier phase measurement of the pseudo-range constraint. Therefore, the invention can improve the satellite-ground distance measurement precision of the carrier phase.

Description

一种基于伪距约束的载波相位的测距方法A Ranging Method of Carrier Phase Based on Pseudo-Range Constraints

技术领域technical field

本发明属于卫星测距领域，具体涉及一种基于伪距约束的载波相位的测距方法。The invention belongs to the field of satellite ranging, and in particular relates to a ranging method based on pseudorange-constrained carrier phase.

背景技术Background technique

高精度卫星定位、导航和授时(Positioning，navigation and timing，PNT)应用的前提是卫星具备高精度的测距技术，高精度的卫星测距技术是衡量卫星导航系统性能优劣的重要标志。The premise of the application of high-precision satellite positioning, navigation and timing (PNT) is that the satellite has high-precision ranging technology, which is an important indicator to measure the performance of satellite navigation systems.

GNSS(Global Navigation Satellite System，全球卫星导航系统)领域主要采用的是伪距和载波相位测距技术，伪距测距精度约为30cm，载波相位测距精度可以优于1cm。The GNSS (Global Navigation Satellite System, Global Navigation Satellite System) field mainly uses pseudorange and carrier phase ranging technologies. The pseudorange ranging accuracy is about 30cm, and the carrier phase ranging accuracy can be better than 1cm.

由于伪距测距精度约为30cm难以满足高精度应用，而载波相位测距达虽然可以达到更高精度，但是在载波相位测距过程中，接收机接到的载波相位观测值包含一部分未知的模糊度参数、整周数和不足一周的小数部分，小数部分可以精确确定，模糊度参数和整周数在一起难以分离，无法估计出准确的整周数，从而无法获得高精度的测距结果。如果长时间观测联合求解解决模糊度参数进而获得精确的整周数，该过程耗时过长精度度随之降低，因此现有技术中模糊度的错误估计将导致载波相位的测距精度较差。Since the pseudorange ranging accuracy is about 30cm, it is difficult to meet high-precision applications, and although the carrier phase ranging can achieve higher accuracy, in the process of carrier phase ranging, the carrier phase observations received by the receiver contain a part of unknown The ambiguity parameter, the whole number of weeks and the fractional part of less than one week, the fractional part can be accurately determined, the ambiguity parameter and the whole number of weeks are difficult to separate together, and the accurate number of the whole number of weeks cannot be estimated, so high-precision ranging results cannot be obtained . If the ambiguity parameters are solved by a long-term observation and joint solution to obtain an accurate integer number of cycles, the process will take too long and the accuracy will decrease accordingly. Therefore, the wrong estimation of the ambiguity in the prior art will lead to poor ranging accuracy of the carrier phase. .

发明内容SUMMARY OF THE INVENTION

为了解决现有技术中存在的上述问题，本发明提供了一种基于伪距约束的载波相位星地测距方法。本发明要解决的技术问题通过以下技术方案实现：In order to solve the above problems existing in the prior art, the present invention provides a carrier phase satellite-to-ground ranging method based on pseudorange constraints. The technical problem to be solved by the present invention is realized by the following technical solutions:

本发明提供的一种基于伪距约束的载波相位的测距方法包括：A ranging method based on pseudorange-constrained carrier phase provided by the present invention includes:

获取地面站发射伪码信号的发射时刻、在所述发射时刻产生的载波相位测距信号的初始相位、所述伪码信号经卫星上的转发器转发后地面站接收该伪码信号的接收时刻、地面站在接收时刻接收载波相位测距信号的接收相位以及载波相位的波长；Obtain the transmission time at which the ground station transmits the pseudo-code signal, the initial phase of the carrier phase ranging signal generated at the transmission time, and the reception time at which the ground station receives the pseudo-code signal after the pseudo-code signal is forwarded by the transponder on the satellite . The ground station receives the receiving phase of the carrier phase ranging signal and the wavelength of the carrier phase at the receiving moment;

基于所述发射时刻与所述接收时刻的相位差、所述信号的传播速度以及对伪码测距中各种误差项的模型修正值，确定伪码测距误差修正后的第一星地距离公式；Based on the phase difference between the transmitting moment and the receiving moment, the propagation speed of the signal, and the model correction values for various error terms in the pseudo-code ranging, determine the first satellite-to-earth distance after the pseudo-code ranging error is corrected formula;

确定所述相位差与载波相位的波长之积对等的待转换表达式；Determine the to-be-converted expression equivalent to the product of the phase difference and the wavelength of the carrier phase;

其中，待转换表达式包括载波相位的周整数、不足整周的小数部分与初始相位模糊度之和，与所述载波相位的波长的乘积；Wherein, the expression to be converted includes the sum of the integer of the carrier phase, the fractional part less than the entire period and the initial phase ambiguity, and the product of the wavelength of the carrier phase;

基于载波相位的波长、载波相位的周整数、不足整周的小数部分与星地距离之间关系，对所述待转换表达式进行转换，得到中间转换表达式；Based on the relationship between the wavelength of the carrier phase, the cycle integer of the carrier phase, the fractional part less than the whole cycle and the distance between the satellite and the earth, the expression to be converted is converted to obtain an intermediate conversion expression;

基于所述载波相位的波长、载波相位测距误差、载波相位测距中各种误差项的模型修正值以及所述中间转化表达式，确定载波相位测距误差修正后的第二星地距离公式；Based on the wavelength of the carrier phase, the carrier phase ranging error, the model correction values of various error terms in the carrier phase ranging, and the intermediate conversion expression, determine the second satellite-to-earth distance formula after the carrier phase ranging error is corrected ;

对所述第一星地距离公式以及第二星地距离公式进行转换，消除初始相位模糊度，确定最终星地距离计算公式；Converting the first satellite-to-ground distance formula and the second satellite-to-ground distance formula, eliminating the initial phase ambiguity, and determining the final satellite-ground distance calculation formula;

使用最终星地距离计算公式，计算伪距约束的载波相位测量的星地距离；Using the final satellite-to-ground distance calculation formula, calculate the satellite-to-ground distance measured by the carrier phase constrained by the pseudorange;

其中，所述最终星地距离计算公式为：Wherein, the calculation formula of the final star-earth distance is:

Figure BDA0002908244480000021
Figure BDA0002908244480000021

其中，λ表示载波相位的波长，D表示不足整周的小数部分，

Figure BDA0002908244480000031
表示测距误差的小数部分，
Figure BDA0002908244480000032
表示
Figure BDA0002908244480000033
的整数部分，Δρ2表示载波相位的测距误差，Δρ4表示对载波相位测距中各种误差项的模型修正值，d1表示第一星地距离。Among them, λ represents the wavelength of the carrier phase, D represents the fractional part of the whole cycle,
Figure BDA0002908244480000031
represents the fractional part of the ranging error,
Figure BDA0002908244480000032
express
Figure BDA0002908244480000033
The integer part of , Δρ 2 represents the ranging error of the carrier phase, Δρ 4 represents the model correction value for various error terms in the carrier phase ranging, and d 1 represents the first satellite-to-earth distance.

可选的，所述第一星地距离计算公式为：Optionally, the first star-ground distance calculation formula is:

Figure BDA0002908244480000034
Figure BDA0002908244480000034

其中，d1表示第一星地距离，Δρ3对伪码测距中各种误差项的模型修正值，t2表示接受时刻，t1表示发射时刻，c表示信号的传播速度。Among them, d 1 represents the first satellite-to-ground distance, Δρ 3 is the model correction value of various error terms in pseudocode ranging, t 2 represents the reception time, t 1 represents the transmission time, and c represents the propagation speed of the signal.

可选的，所述待转换表达式为：Optionally, the expression to be converted is:

Figure BDA0002908244480000035
Figure BDA0002908244480000035

其中，

Figure BDA0002908244480000036
表示初始相位，
Figure BDA0002908244480000037
表示接收相位，N表示整周数，Nb为初始相位模糊度。in,
Figure BDA0002908244480000036
represents the initial phase,
Figure BDA0002908244480000037
represents the received phase, N represents the number of integer cycles, and N b is the initial phase ambiguity.

可选的，所述中间转换表达式为：Optionally, the intermediate conversion expression is:

Figure BDA0002908244480000038
Figure BDA0002908244480000038

其中，

Figure BDA0002908244480000039
表示初始相位，
Figure BDA00029082444800000310
表示接收相位，N表示整周数，Nb为初始相位模糊度。in,
Figure BDA0002908244480000039
represents the initial phase,
Figure BDA00029082444800000310
represents the received phase, N represents the number of integer cycles, and N b is the initial phase ambiguity.

可选的，所述第二星地距离公式为：Optionally, the second star-ground distance formula is:

Figure BDA00029082444800000311
Figure BDA00029082444800000311

其中，d2表示第二星地距离，N表示整周数，Nb为初始相位模糊度。Among them, d 2 represents the second satellite-to-earth distance, N represents the integer number of cycles, and N b represents the initial phase ambiguity.

可选的，对所述第一星地距离公式以及第二星地距离公式进行转换，消除初始相位模糊度，确定最终星地距离计算公式的步骤包括：Optionally, converting the first satellite-to-earth distance formula and the second satellite-to-earth distance formula to eliminate the initial phase ambiguity, and the steps of determining the final satellite-to-earth distance calculation formula include:

基于所述第一星地距离公式以及伪码测距过程中载波信号的波长、整数周以及初始星地距离之间的关系，确定第二星地距离公式中的整周数；Determine the number of integer cycles in the second satellite-to-ground distance formula based on the first satellite-to-earth distance formula and the relationship between the wavelength, the integer cycle and the initial satellite-to-ground distance of the carrier signal in the pseudocode ranging process;

所述整周数为：

Figure BDA0002908244480000041
The full week number is:
Figure BDA0002908244480000041

基于所述整周数、第一星地距离公式对所述第二星地距离公式进行转换，消除所述初始相位模糊度，得到最终星地距离计算公式；Converting the second star-ground distance formula based on the integer number of weeks and the first star-ground distance formula, eliminating the initial phase ambiguity, and obtaining the final star-ground distance calculation formula;

其中，初始星地距离为：2ρ＝λ·(N+D)Among them, the initial star-ground distance is: 2ρ=λ·(N+D)

c·(t2-t1)＝2ρ+Δρ1 c·(t 2 -t 1 )=2ρ+Δρ 1

其中，ρ表示初始星地距离，t1表示发射时刻，t2表示接收时刻，N表示整周数，Δρ1表示伪码测距误差。Among them, ρ represents the initial satellite-to-earth distance, t 1 represents the transmission time, t 2 represents the reception time, N represents the integer number of cycles, and Δρ 1 represents the pseudo code ranging error.

本发明提出了一种基于伪距约束的载波相位的测距方法，计算载波相位的整周部分，并结合载波相位测距的小数部分，提出新型的测量星地距离的方案。相比于现有技术本发明无需计算模糊度参数，通过伪距测距以及载波测距的相互结合，并对初始星地距离中的误差进行修正，得到中间转换表达式，基于载波相位的波长、载波相位测距误差、载波相位测距中各种误差项的模型修正值以及中间转化表达式，确定载波相位测距误差修正后的第二星地距离公式；对第一星地距离公式以及第二星地距离公式进行转换，消除初始相位模糊度，确定最终星地距离计算公式，以此计算伪距约束的载波相位测量的星地距离。因此本发明可以提高载波相位星地测距精度。The invention proposes a carrier phase ranging method based on pseudorange constraints, calculates the whole cycle part of the carrier phase, and combines the fractional part of the carrier phase ranging to propose a new scheme for measuring the distance between the satellite and the earth. Compared with the prior art, the present invention does not need to calculate the ambiguity parameter, through the mutual combination of pseudorange ranging and carrier ranging, and correcting the error in the initial satellite-to-earth distance, an intermediate conversion expression is obtained, and the wavelength based on the carrier phase is obtained. , carrier phase ranging error, model correction values of various error terms in carrier phase ranging, and intermediate conversion expressions to determine the second satellite-to-ground distance formula after carrier phase ranging error correction; for the first satellite-to-ground distance formula and The second satellite-to-earth distance formula is converted, the initial phase ambiguity is eliminated, and the final satellite-to-earth distance calculation formula is determined, thereby calculating the satellite-to-earth distance measured by the carrier phase constrained by the pseudorange. Therefore, the present invention can improve the carrier phase satellite-to-ground ranging accuracy.

以下将结合附图及实施例对本发明做进一步详细说明。The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

附图说明Description of drawings

图1是本发明实施例提供的一种基于伪距约束的载波相位的测距方法的流程图；FIG. 1 is a flowchart of a method for ranging based on pseudorange-constrained carrier phase provided by an embodiment of the present invention;

图2是本发明实施例提供的伪码约束的载波相位测距原理图；2 is a schematic diagram of a carrier phase ranging principle constrained by a pseudo code provided by an embodiment of the present invention;

图3是本发明实施例提供的伪码约束的载波相位误差修正的过程示意图。FIG. 3 is a schematic diagram of a process of correcting a carrier phase error constrained by a pseudo code provided by an embodiment of the present invention.

具体实施方式Detailed ways

下面结合具体实施例对本发明做进一步详细的描述，但本发明的实施方式不限于此。The present invention will be described in further detail below with reference to specific embodiments, but the embodiments of the present invention are not limited thereto.

如图1所示，本发明提供的一种基于伪距约束的载波相位的测距方法包括：As shown in FIG. 1 , a method for measuring carrier phase based on pseudorange constraints provided by the present invention includes:

S1，获取地面站发射伪码信号的发射时刻、在发射时刻产生的载波相位测距信号的初始相位、伪码信号经卫星上的转发器转发后地面站接收该伪码信号的接收时刻、地面站在接收时刻接收载波相位测距信号的接收相位以及载波相位的波长；S1: Obtain the transmission time when the ground station transmits the pseudo-code signal, the initial phase of the carrier phase ranging signal generated at the time of transmission, the receiving time when the ground station receives the pseudo-code signal after the pseudo-code signal is forwarded by the transponder on the satellite, and the ground station The station receives the receiving phase of the carrier phase ranging signal and the wavelength of the carrier phase at the receiving moment;

其中，载波相位的波长在发射信号之前已预先设置，在传输过程中载波相位的波长不发生变化。Wherein, the wavelength of the carrier phase is preset before transmitting the signal, and the wavelength of the carrier phase does not change during the transmission process.

S2，基于发射时刻与接收时刻的相位差、信号的传播速度以及对伪码测距中各种误差项的模型修正值，确定伪码测距误差修正后的第一星地距离公式；S2, based on the phase difference between the transmitting moment and the receiving moment, the propagation speed of the signal, and the model correction values for various error terms in the pseudo-code ranging, determine the first satellite-to-earth distance formula after the pseudo-code ranging error is corrected;

S3，确定相位差与载波相位的波长之积对等的待转换表达式；S3, determine the to-be-converted expression equivalent to the product of the wavelength of the phase difference and the carrier phase;

其中，待转换表达式包括载波相位的周整数、不足整周的小数部分与初始相位模糊度之和，与载波相位的波长的乘积；Wherein, the to-be-converted expression includes the cycle integer of the carrier phase, the sum of the fractional part less than the whole cycle and the initial phase ambiguity, and the product of the wavelength of the carrier phase;

S4，基于载波相位的波长、载波相位的周整数、不足整周的小数部分与星地距离之间关系，对待转换表达式进行转换，得到中间转换表达式；S4, based on the relationship between the wavelength of the carrier phase, the cycle integer of the carrier phase, the fractional part less than the whole cycle and the distance between the satellite and the earth, convert the expression to be converted to obtain an intermediate conversion expression;

S5，基于载波相位的波长、载波相位测距误差、载波相位测距中各种误差项的模型修正值以及中间转化表达式，确定载波相位测距误差修正后的第二星地距离公式；S5, based on the wavelength of the carrier phase, the carrier phase ranging error, the model correction values of various error terms in the carrier phase ranging, and the intermediate conversion expressions, determine the second satellite-to-earth distance formula after the carrier phase ranging error correction;

S6，对第一星地距离公式以及第二星地距离公式进行转换，消除初始相位模糊度，确定最终星地距离计算公式；S6, convert the first satellite-to-ground distance formula and the second satellite-to-ground distance formula, eliminate the initial phase ambiguity, and determine the final satellite-to-ground distance calculation formula;

S7，使用最终星地距离计算公式，计算伪距约束的载波相位测量的星地距离；S7, use the final satellite-to-ground distance calculation formula to calculate the satellite-to-ground distance measured by the carrier phase constrained by the pseudorange;

其中，最终星地距离计算公式为：Among them, the calculation formula of the final star-earth distance is:

Figure BDA0002908244480000061
Figure BDA0002908244480000061

其中，λ表示载波相位的波长，D表示不足整周的小数部分，

Figure BDA0002908244480000062
表示测距误差的小数部分，
Figure BDA0002908244480000063
表示
Figure BDA0002908244480000064
的整数部分，Δρ2表示载波相位的测距误差，Δρ4表示对载波相位测距中各种误差项的模型修正值，d1表示第一星地距离。Among them, λ represents the wavelength of the carrier phase, D represents the fractional part of the whole cycle,
Figure BDA0002908244480000062
represents the fractional part of the ranging error,
Figure BDA0002908244480000063
express
Figure BDA0002908244480000064
The integer part of , Δρ 2 represents the ranging error of the carrier phase, Δρ 4 represents the model correction value for various error terms in the carrier phase ranging, and d 1 represents the first satellite-to-earth distance.

本发明提出了一种基于伪距约束的载波相位的测距方法，计算载波相位的整周部分，并结合载波相位测距的小数部分，提出新型的测量星地距离的方案。相比于现有技术本发明无需计算模糊度参数，通过伪距测距以及载波测距的相互结合，并对初始星地距离中的误差进行修正，得到中间转换表达式，基于载波相位的波长、载波相位测距误差、载波相位测距中各种误差项的模型修正值以及中间转化表达式，确定载波相位测距误差修正后的第二星地距离公式；对第一星地距离公式以及第二星地距离公式进行转换，消除初始相位模糊度，确定最终星地距离计算公式，以此计算伪距约束的载波相位测量的星地距离。因此本发明可以提高载波相位星地测距精度。The invention proposes a carrier phase ranging method based on pseudorange constraints, calculates the whole cycle part of the carrier phase, and combines the fractional part of the carrier phase ranging to propose a new scheme for measuring the distance between the satellite and the earth. Compared with the prior art, the present invention does not need to calculate the ambiguity parameter, through the mutual combination of pseudorange ranging and carrier ranging, and correcting the error in the initial satellite-to-earth distance, an intermediate conversion expression is obtained, and the wavelength based on the carrier phase is obtained. , carrier phase ranging error, model correction values of various error terms in carrier phase ranging, and intermediate conversion expressions to determine the second satellite-to-ground distance formula after carrier phase ranging error correction; for the first satellite-to-ground distance formula and The second satellite-to-earth distance formula is converted, the initial phase ambiguity is eliminated, and the final satellite-to-earth distance calculation formula is determined, thereby calculating the satellite-to-earth distance measured by the carrier phase constrained by the pseudorange. Therefore, the present invention can improve the carrier phase satellite-to-ground ranging accuracy.

其中，第一星地距离计算公式为：Among them, the formula for calculating the distance between the first star and the ground is:

Figure BDA0002908244480000071
Figure BDA0002908244480000071

其中，d1表示第一星地距离，Δρ3对伪码测距中各种误差项的模型修正值，t2表示接受时刻，t1表示发射时刻，c表示信号的传播速度。Among them, d 1 represents the first satellite-to-ground distance, Δρ 3 is the model correction value of various error terms in pseudocode ranging, t 2 represents the reception time, t 1 represents the transmission time, and c represents the propagation speed of the signal.

其中，待转换表达式为：Among them, the expression to be converted is:

Figure BDA0002908244480000072
Figure BDA0002908244480000072

其中，

Figure BDA0002908244480000073
表示初始相位，
Figure BDA0002908244480000074
表示接收相位，N表示整周数，Nb为初始相位模糊度。in,
Figure BDA0002908244480000073
represents the initial phase,
Figure BDA0002908244480000074
represents the received phase, N represents the number of integer cycles, and N b is the initial phase ambiguity.

其中，中间转换表达式为：Among them, the intermediate conversion expression is:

Figure BDA0002908244480000075
Figure BDA0002908244480000075

其中，

Figure BDA0002908244480000076
表示初始相位，
Figure BDA0002908244480000077
表示接收相位，N表示整周数，Nb为初始相位模糊度。in,
Figure BDA0002908244480000076
represents the initial phase,
Figure BDA0002908244480000077
represents the received phase, N represents the number of integer cycles, and N b is the initial phase ambiguity.

其中，所述第二星地距离公式为：Wherein, the formula of the second star-ground distance is:

Figure BDA0002908244480000078
Figure BDA0002908244480000078

其中，d2表示第二星地距离，N表示整周数，Nb为初始相位模糊度。作为可选的一种实施方式，对所述第一星地距离公式以及第二星地距离公式进行转换，消除初始相位模糊度，确定最终星地距离计算公式的步骤包括：Among them, d 2 represents the second satellite-to-earth distance, N represents the integer number of cycles, and N b represents the initial phase ambiguity. As an optional implementation manner, the steps of converting the first star-ground distance formula and the second star-ground distance formula to eliminate the initial phase ambiguity, and determining the final star-ground distance calculation formula include:

基于所述第一星地距离公式以及伪码测距过程中载波信号的波长、整数周以及初始星地距离之间的关系，确定第二星地距离公式中的整周数；Determine the number of integer cycles in the second satellite-to-ground distance formula based on the first satellite-to-earth distance formula and the relationship between the wavelength, the integer cycle and the initial satellite-to-ground distance of the carrier signal in the pseudocode ranging process;

所述整周数为：

Figure BDA0002908244480000081
The full week number is:
Figure BDA0002908244480000081

基于所述整周数、第一星地距离公式对所述第二星地距离公式进行转换，消除所述初始相位模糊度，得到最终星地距离计算公式；Converting the second star-ground distance formula based on the integer number of weeks and the first star-ground distance formula, eliminating the initial phase ambiguity, and obtaining the final star-ground distance calculation formula;

其中，初始星地距离为：2ρ＝λ·(N+D)Among them, the initial star-ground distance is: 2ρ=λ·(N+D)

c·(t2-t1)＝2ρ+Δρ1 c·(t 2 -t 1 )=2ρ+Δρ 1

其中，ρ表示初始星地距离，t1表示发射时刻，t2表示接收时刻，N表示整周数，Δρ1表示伪码测距误差。Among them, ρ represents the initial satellite-to-earth distance, t 1 represents the transmission time, t 2 represents the reception time, N represents the integer number of cycles, and Δρ 1 represents the pseudo code ranging error.

对于转发式测距技术而言，测量信号发射时刻与接收时刻的原子钟是同一颗卫星上的原子钟，所以测量得到的观测值中不包含星钟与星钟之间的钟差引起的测距误差，但同时它所测得的是信号在星地的往返时间，所以得到的距离是星地距离的2倍。如图2所示，设地面站发射伪码信号的时刻为t1,经B星上的转发器转发后，地面站在t2时刻收到信号，则：For the repeater ranging technology, the atomic clocks that measure the transmission time and the reception time of the signal are the atomic clocks on the same satellite, so the measured observations do not include the ranging error caused by the clock difference between the star clock and the star clock. , but at the same time it measures the round-trip time of the signal between the star and the ground, so the distance obtained is twice the distance between the star and the ground. As shown in Figure 2, suppose the time when the ground station transmits the pseudo-code signal is t1, and after being forwarded by the transponder on the B satellite, the ground station receives the signal at time t2, then:

c·(t2-t1)＝2ρ+Δρ1 (1)c·(t 2 -t 1 )=2ρ+Δρ 1 (1)

其中，ρ表示星地几何距离，Δρ1表示伪码测距误差，在后面会对这里面的误差项进行详细分析。Among them, ρ represents the geometric distance between the star and the ground, and Δρ 1 represents the pseudo-code ranging error. The error term in this will be analyzed in detail later.

同时，假设地面站在t1时刻产生的载波相位测距信号初相为

Figure BDA0002908244480000082
在传播了ρ的距离后到卫星B上的转发器转发后再传播了距离ρ至地面站接收部分接收，此时相位为
Figure BDA0002908244480000083
对应的相位变化为
Figure BDA0002908244480000084
而
Figure BDA0002908244480000085
里包含了整周数、整周模糊度以及不足整周的小数部分。因此有：At the same time, it is assumed that the initial phase of the carrier phase ranging signal generated by the ground station at time t 1 is
Figure BDA0002908244480000082
After the distance of ρ is transmitted to the transponder on satellite B, the distance ρ is transmitted to the receiving part of the ground station to receive, and the phase is
Figure BDA0002908244480000083
The corresponding phase change is
Figure BDA0002908244480000084
and
Figure BDA0002908244480000085
It contains the whole week number, the whole week ambiguity, and the fractional part of the whole week. So there are:

Figure BDA0002908244480000086
Figure BDA0002908244480000086

其中，λ表示载波相位的波长，N表示整周数，Nb为初始相位模糊度；D表示不足整周的小数部分，Δρ2表示载波相位测距误差。且有：Among them, λ represents the wavelength of the carrier phase, N represents the number of integer cycles, N b is the initial phase ambiguity; D represents the fractional part of less than an integer cycle, and Δρ 2 represents the carrier phase ranging error. and have:

2ρ＝λ·(N+D) (3)2ρ=λ·(N+D) (3)

将公式(3)进行变形，对Δρ2与前项合并：The formula (3) is deformed, and Δρ 2 is combined with the previous term:

Figure BDA0002908244480000091
Figure BDA0002908244480000091

其中，

Figure BDA0002908244480000092
表示
Figure BDA0002908244480000093
的整数部分。in,
Figure BDA0002908244480000092
express
Figure BDA0002908244480000093
the integer part of .

在载波相位测距中，可以通过卫星观测直接得到的值其实是

Figure BDA0002908244480000094
其中
Figure BDA0002908244480000095
表示测距误差的小数部分，可以用现有技术中差拍法测量得到，且
Figure BDA0002908244480000096
而N的大小无法确定。由于载波相位测距无法完成求解N，下述过程是利用伪距测距求解N。In carrier phase ranging, the value that can be directly obtained from satellite observations is actually
Figure BDA0002908244480000094
in
Figure BDA0002908244480000095
The fractional part representing the ranging error can be measured by the beat method in the prior art, and
Figure BDA0002908244480000096
The size of N cannot be determined. Since carrier phase ranging cannot solve N, the following process uses pseudorange ranging to solve N.

假设d1为对伪码测量结果进行误差模型改成后的第一星地距离值，d2表示对载波相位测量结果进行修正后的第二星地距离值，有：Suppose d 1 is the first satellite-to-ground distance value after changing the error model of the pseudo-code measurement results, and d 2 represents the second satellite-to-ground distance value after the carrier phase measurement results are corrected, as follows:

Figure BDA0002908244480000097
Figure BDA0002908244480000097

Figure BDA0002908244480000098
Figure BDA0002908244480000098

其中，公式(5)为第一星地距离公式，公式(6)为第二星地距离公式，Δρ3表示对伪码测距中各种误差项的模型修正值，Δρ4表示对载波相位测距中各种误差项的模型修正值。Δρ3是通过模型求解的用于修正Δρ1的值，Δρ3≈Δρ1，同理，Δρ4≈Δρ2。Among them, formula (5) is the first satellite-to-ground distance formula, formula (6) is the second satellite-to-ground distance formula, Δρ 3 represents the model correction value for various error terms in the pseudo code ranging, Δρ 4 represents the carrier phase Model corrections for various error terms in ranging. Δρ 3 is a value for correcting Δρ 1 solved by the model, Δρ 3 ≈Δρ 1 , and similarly, Δρ 4 ≈Δρ 2 .

参考图3，在星地伪距和载波相位测量过程中，由于发射/接收设备的设备延迟、大气延迟、天线相位中心偏差、相位缠绕、相对位置关系偏差等等原因需要对测距结果进行修正，可以使用相对论效应改正模型对相对论误差进行修改，使用天线相位中心偏差改正模型对天线相位中心偏差进行修正，使用天线相位缠绕改正模型对相位缠绕造成的误差进行修正，使用电离层延迟改正模型对大气延迟造成的误差进行修正，对信号发射/接收设备进行延迟标定，以此修正设备误差。各项误差修正的总和确定为模型修正值。Referring to Figure 3, in the process of satellite-to-ground pseudorange and carrier phase measurement, the ranging results need to be corrected due to the equipment delay of the transmitting/receiving equipment, atmospheric delay, antenna phase center deviation, phase winding, relative position relationship deviation, etc. , you can use the relativistic effect correction model to modify the relativistic error, use the antenna phase center deviation correction model to correct the antenna phase center deviation, use the antenna phase winding correction model to correct the error caused by phase winding, use the ionospheric delay correction model to correct The error caused by atmospheric delay is corrected, and the delay calibration of the signal transmitting/receiving equipment is performed to correct the equipment error. The sum of each error correction is determined as the model correction value.

对于现有的伪码测距技术来说，|d1-ρ|≤2cm，当使用L频段载波相位进行测距时，其波长

Figure BDA0002908244480000101
有|d1-ρ|≤λ，所以：For the existing pseudo-code ranging technology, |d 1 -ρ|≤2cm, when the L-band carrier phase is used for ranging, its wavelength
Figure BDA0002908244480000101
With |d 1 -ρ|≤λ, so:

Figure BDA0002908244480000102
Figure BDA0002908244480000102

Figure BDA0002908244480000103
分别表示
Figure BDA0002908244480000104
的整数部分，结合式(3)，就有：
Figure BDA0002908244480000103
Respectively
Figure BDA0002908244480000104
The integer part of , combined with formula (3), we have:

Figure BDA0002908244480000105
Figure BDA0002908244480000105

所以，有：F:

Figure BDA0002908244480000106
Figure BDA0002908244480000106

d为最终的星地距离。d is the final star-earth distance.

此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first" or "second" may expressly or implicitly include one or more of that feature. In the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.

以上内容是结合具体的优选实施方式对本发明所作的进一步详细说明，不能认定本发明的具体实施只局限于这些说明。对于本发明所属技术领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干简单推演或替换，都应当视为属于本发明的保护范围。The above content is a further detailed description of the present invention in combination with specific preferred embodiments, and it cannot be considered that the specific implementation of the present invention is limited to these descriptions. For those of ordinary skill in the technical field of the present invention, without departing from the concept of the present invention, some simple deductions or substitutions can be made, which should be regarded as belonging to the protection scope of the present invention.

Claims (6)

1.一种基于伪距约束的载波相位的测距方法，其特征在于，包括：1. a ranging method based on a carrier phase constrained by pseudorange, is characterized in that, comprising: 获取地面站发射伪码信号的发射时刻、在所述发射时刻产生的载波相位测距信号的初始相位、所述伪码信号经卫星上的转发器转发后地面站接收该伪码信号的接收时刻、地面站在接收时刻接收载波相位测距信号的接收相位以及载波相位的波长；Obtain the transmission time at which the ground station transmits the pseudo-code signal, the initial phase of the carrier phase ranging signal generated at the transmission time, and the reception time at which the ground station receives the pseudo-code signal after the pseudo-code signal is forwarded by the transponder on the satellite . The ground station receives the receiving phase of the carrier phase ranging signal and the wavelength of the carrier phase at the receiving moment; 基于所述发射时刻与所述接收时刻的相位差、所述信号的传播速度以及对伪码测距中各种误差项的模型修正值，确定伪码测距误差修正后的第一星地距离公式；Based on the phase difference between the transmitting moment and the receiving moment, the propagation speed of the signal, and the model correction values for various error terms in the pseudo-code ranging, determine the first satellite-to-earth distance after the pseudo-code ranging error is corrected formula; 确定所述相位差与载波相位的波长之积对等的待转换表达式；Determine the to-be-converted expression equivalent to the product of the phase difference and the wavelength of the carrier phase; 其中，待转换表达式包括载波相位的周整数、不足整周的小数部分与初始相位模糊度之和，与所述载波相位的波长的乘积；Wherein, the expression to be converted includes the sum of the integer of the carrier phase, the fractional part less than the entire period and the initial phase ambiguity, and the product of the wavelength of the carrier phase; 基于载波相位的波长、载波相位的周整数、不足整周的小数部分与星地距离之间关系，对所述待转换表达式进行转换，得到中间转换表达式；Based on the relationship between the wavelength of the carrier phase, the cycle integer of the carrier phase, the fractional part less than the whole cycle and the distance between the satellite and the earth, the expression to be converted is converted to obtain an intermediate conversion expression; 基于所述载波相位的波长、载波相位测距误差、载波相位测距中各种误差项的模型修正值以及所述中间转化表达式，确定载波相位测距误差修正后的第二星地距离公式；Based on the wavelength of the carrier phase, the carrier phase ranging error, the model correction values of various error terms in the carrier phase ranging, and the intermediate conversion expression, determine the second satellite-to-earth distance formula after the carrier phase ranging error is corrected ; 对所述第一星地距离公式以及第二星地距离公式进行转换，消除初始相位模糊度，确定最终星地距离计算公式；Converting the first star-ground distance formula and the second star-ground distance formula, eliminating the initial phase ambiguity, and determining the final star-ground distance calculation formula; 使用最终星地距离计算公式，计算伪距约束的载波相位测量的星地距离；Using the final satellite-to-ground distance calculation formula, calculate the satellite-to-ground distance measured by the carrier phase constrained by the pseudorange; 其中，所述最终星地距离计算公式为：Wherein, the calculation formula of the final star-earth distance is:
Figure FDA0002908244470000011
Figure FDA0002908244470000011
 其中，λ表示载波相位的波长，D表示不足整周的小数部分，
Figure FDA0002908244470000021
表示测距误差的小数部分，
Figure FDA0002908244470000022
表示
Figure FDA0002908244470000023
的整数部分，Δρ2表示载波相位的测距误差，Δρ4表示对载波相位测距中各种误差项的模型修正值，d1表示第一星地距离。Among them, λ represents the wavelength of the carrier phase, D represents the fractional part of the whole cycle,
Figure FDA0002908244470000021
represents the fractional part of the ranging error,
Figure FDA0002908244470000022
express
Figure FDA0002908244470000023
The integer part of , Δρ 2 represents the ranging error of the carrier phase, Δρ 4 represents the model correction value for various error terms in the carrier phase ranging, and d 1 represents the first satellite-to-earth distance. 2.根据权利要求1所述的测距方法，其特征在于，所述第一星地距离计算公式为：2. The distance measuring method according to claim 1, wherein the first satellite-to-ground distance calculation formula is:
Figure FDA0002908244470000024
Figure FDA0002908244470000024
 其中，d1表示第一星地距离，Δρ3对伪码测距中各种误差项的模型修正值，t2表示接受时刻，t1表示发射时刻，c表示信号的传播速度。Among them, d 1 represents the first satellite-to-ground distance, Δρ 3 is the model correction value of various error terms in pseudocode ranging, t 2 represents the reception time, t 1 represents the transmission time, and c represents the propagation speed of the signal. 3.根据权利要求1所述测距方法，其特征在于，所述待转换表达式为：3. The distance measuring method according to claim 1, wherein the expression to be converted is:
Figure FDA0002908244470000025
Figure FDA0002908244470000025
 其中，
Figure FDA0002908244470000026
表示初始相位，
Figure FDA0002908244470000027
表示接收相位，N表示整周数，Nb为初始相位模糊度。in,
Figure FDA0002908244470000026
represents the initial phase,
Figure FDA0002908244470000027
represents the received phase, N represents the number of integer cycles, and N b is the initial phase ambiguity. 4.根据权利要求1所述的测距方法，其特征在于，所述中间转换表达式为：4. The ranging method according to claim 1, wherein the intermediate conversion expression is:
Figure FDA0002908244470000028
Figure FDA0002908244470000028
 其中，
Figure FDA0002908244470000029
表示初始相位，
Figure FDA00029082444700000210
表示接收相位，N表示整周数，Nb为初始相位模糊度。in,
Figure FDA0002908244470000029
represents the initial phase,
Figure FDA00029082444700000210
represents the received phase, N represents the number of integer cycles, and N b is the initial phase ambiguity. 5.根据权利要求1所述的测距方法，其特征在于，所述第二星地距离公式为：5. The distance measuring method according to claim 1, wherein the second satellite-ground distance formula is:
Figure FDA0002908244470000031
Figure FDA0002908244470000031
 其中，d2表示第二星地距离，N表示整周数，Nb为初始相位模糊度。Among them, d 2 represents the second satellite-to-earth distance, N represents the integer number of cycles, and N b represents the initial phase ambiguity. 6.根据权利要求5所述的测距方法，其特征在于，对所述第一星地距离公式以及第二星地距离公式进行转换，消除初始相位模糊度，确定最终星地距离计算公式的步骤包括：6. The distance measuring method according to claim 5, wherein the first satellite-to-ground distance formula and the second satellite-to-ground distance formula are converted, the initial phase ambiguity is eliminated, and the final satellite-to-ground distance calculation formula is determined. Steps include: 基于所述第一星地距离公式以及伪码测距过程中载波信号的波长、整数周以及初始星地距离之间的关系，确定第二星地距离公式中的整周数；Determine the number of integer cycles in the second satellite-to-ground distance formula based on the first satellite-to-earth distance formula and the relationship between the wavelength, the integer cycle and the initial satellite-to-ground distance of the carrier signal in the pseudocode ranging process; 所述整周数为：
Figure FDA0002908244470000032
The full week number is:
Figure FDA0002908244470000032
 基于所述整周数、第一星地距离公式对所述第二星地距离公式进行转换，消除所述初始相位模糊度，得到最终星地距离计算公式；Converting the second star-ground distance formula based on the integer number of weeks and the first star-ground distance formula, eliminating the initial phase ambiguity, and obtaining the final star-ground distance calculation formula; 其中，初始星地距离为：2ρ＝λ·(N+D)Among them, the initial star-ground distance is: 2ρ=λ·(N+D) c·(t2-t1)＝2ρ+Δρ1 c·(t 2 -t 1 )=2ρ+Δρ 1 其中，ρ表示初始星地距离，t1表示发射时刻，t2表示接收时刻，N表示整周数，Δρ1表示伪码测距误差。Among them, ρ represents the initial satellite-to-earth distance, t 1 represents the transmission time, t 2 represents the reception time, N represents the integer number of cycles, and Δρ 1 represents the pseudo code ranging error.
CN202110078029.1A 2021-01-20 2021-01-20 Carrier phase ranging method based on pseudo-range constraint Active CN114779300B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110078029.1A CN114779300B (en) 2021-01-20 2021-01-20 Carrier phase ranging method based on pseudo-range constraint

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110078029.1A CN114779300B (en) 2021-01-20 2021-01-20 Carrier phase ranging method based on pseudo-range constraint

Publications (2)

Publication Number Publication Date
CN114779300A true CN114779300A (en) 2022-07-22
CN114779300B CN114779300B (en) 2024-05-03

Family

ID=82407638

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110078029.1A Active CN114779300B (en) 2021-01-20 2021-01-20 Carrier phase ranging method based on pseudo-range constraint

Country Status (1)

Country Link
CN (1) CN114779300B (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5935194A (en) * 1994-02-18 1999-08-10 Trimble Navigation Limited Method for using external constraints to improve the speed and reliability of phase ambiguity resolution in real-time kinematic initialization
US20040225438A1 (en) * 2002-09-23 2004-11-11 Alexandr Draganov Methods and apparatus for determining phase ambiguities in ranging and navigation systems
CN102226844A (en) * 2011-03-29 2011-10-26 哈尔滨工业大学 Inter-satellite ranging method for formation small satellites based on two-way forwarding measurement system and carrier phase smoothing pseudocode
CN108845338A (en) * 2018-07-26 2018-11-20 西南电子技术研究所（中国电子科技集团公司第十研究所） Star ground united carrier smoothing pseudo range distance measuring method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5935194A (en) * 1994-02-18 1999-08-10 Trimble Navigation Limited Method for using external constraints to improve the speed and reliability of phase ambiguity resolution in real-time kinematic initialization
US20040225438A1 (en) * 2002-09-23 2004-11-11 Alexandr Draganov Methods and apparatus for determining phase ambiguities in ranging and navigation systems
CN102226844A (en) * 2011-03-29 2011-10-26 哈尔滨工业大学 Inter-satellite ranging method for formation small satellites based on two-way forwarding measurement system and carrier phase smoothing pseudocode
CN108845338A (en) * 2018-07-26 2018-11-20 西南电子技术研究所（中国电子科技集团公司第十研究所） Star ground united carrier smoothing pseudo range distance measuring method

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
祝会忠;雷啸挺;徐爱功;李军;高猛;: "顾及GEO卫星约束的长距离BDS三频整周模糊度解算", 测绘学报, no. 09, 15 September 2020 (2020-09-15) *
闵淑琴;马宏;: "星间自主相对测距中载波相位整周模糊解算方法研究", 遥测遥控, no. 04, 20 August 2006 (2006-08-20) *
陈媛;常青;徐勇;: "星间链路测量中的载波相位测距算法研究", 遥测遥控, no. 04, 15 July 2010 (2010-07-15) *

Also Published As

Publication number Publication date
CN114779300B (en) 2024-05-03

Similar Documents

Publication Publication Date Title
CN110031881B (en) Method for assisting precise point positioning by high-precision inter-satellite laser ranging
CN109581452B (en) GNSS reference station carrier phase integer ambiguity resolution method
US7576690B2 (en) Position determination with reference data outage
US9958550B2 (en) Navigation satellite system positioning involving the generation of receiver-specific or receiver-type-specific correction information
US9322922B2 (en) Determining position of a GNSS receiver using fractional signalling event period times
CN109655846A (en) A kind of multistation difference post-processing high-precision time synchronization method and system
CN108445518A (en) A kind of GNSS chronometer time transmission methods based on the constraint of double difference fuzziness fixed solution
CN101609143B (en) Satellite timing method based on wide area differential reinforcement
CN101702030A (en) A precise orbit determination method for navigation satellites assisted by inter-station clock difference
CN109633701B (en) GNSS timing receiver system delay calibration method based on time-keeping laboratory resources
CN105182384A (en) Dual-mode real-time pseudo-range differential positioning system and pseudo-range correction data generation method
CN113848572A (en) A multi-frequency PPP sequential single-epoch location method based on atmospheric error enhancement
CN113253314B (en) A method and system for time synchronization between low-orbit satellites
CN109613579B (en) Method and system for calculating integer ambiguity based on least square algorithm
CN103698790B (en) Difference combined method between the Big Dipper and GPS dual system wide lane carrier phase mixing star
CN105044741A (en) Solution method of pseudo range phase comprehensive wide-area differential correction value
CN116540303A (en) A Method for Establishing Difference Observation Equation Between Epochs and Calculating Method for Earthquake Displacement
CN110749907A (en) Clock error compensation method and system based on receiver in Beidou mobile positioning
CN104898144B (en) Whole-cycle ambiguity single epoch determining method for Beidou system reference station
CN110082801B (en) A positioning method for chip atomic clock assisted BDS/GPS receiver
CN116299615A (en) A Phase Bias Estimation Method for Single Beidou Real-time PPP Fuzzy Fixation
CN111060928A (en) Space spacecraft time synchronization implementation method based on bidirectional distance measurement
CN112946699B (en) Method and system for enhancing GNSS navigation system with integrated low-orbit satellite
CN101915926B (en) Method for confirming one-way distance in satellite laser ranging (SLR)
CN115603847A (en) Subnanosecond time synchronization method and device based on Beidou short message and PPP-B2B service

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant