CN115598673B - Method for calculating deviation of adjacent product boundary of IGS GNSS satellite clock error and orbit single day - Google Patents

Method for calculating deviation of adjacent product boundary of IGS GNSS satellite clock error and orbit single day Download PDF

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CN115598673B
CN115598673B CN202211203576.9A CN202211203576A CN115598673B CN 115598673 B CN115598673 B CN 115598673B CN 202211203576 A CN202211203576 A CN 202211203576A CN 115598673 B CN115598673 B CN 115598673B
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gnss
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gnss satellite
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CN115598673A (en
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李浩军
李晓明
康琦
冯畅
旦增罗杰
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Tongji University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/27—Acquisition or tracking or demodulation of signals transmitted by the system creating, predicting or correcting ephemeris or almanac data within the receiver
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/37—Hardware or software details of the signal processing chain
    • G—PHYSICS
    • G04—HOROLOGY
    • G04R—RADIO-CONTROLLED TIME-PIECES
    • G04R20/00—Setting the time according to the time information carried or implied by the radio signal
    • G04R20/02—Setting the time according to the time information carried or implied by the radio signal the radio signal being sent by a satellite, e.g. GPS
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Abstract

The application discloses a method for calculating deviation of adjacent product boundaries of an IGS GNSS satellite clock error and an orbit single day, which comprises the following steps: determining the time span and the time period of the deviation of the IGS GNSS satellite clock difference to be calculated and the adjacent product boundary of the single day of the orbit; determining an observation period of a global or local GNSS reference station using the period; selecting a double-frequency observation value and ionosphere-free delay phase combination B1/B2, a pseudo-range combination C1/C2, an IGS GNSS satellite orbit and a clock difference product corresponding to the double-frequency observation value based on an observation period, and calculating the deviation of the IGS GNSS satellite clock difference and the boundary of the adjacent products on a single day of orbit; according to the application, the self-consistency requirements of the IGS satellite orbit and the clock error products are subjected to calculation of the deviation of the IGS GNSS satellite clock error and the boundary of the adjacent products on a single day of orbit, thereby providing a precondition for high-precision dynamic and static positioning at the boundary of a precise single-point positioning day of GNSS (GPS, beidou, galileo and the like) and enhancing the availability of the IGS GNSS satellite clock error and the orbit products.

Description

Method for calculating deviation of adjacent product boundary of IGS GNSS satellite clock error and orbit single day
Technical Field
The application relates to the technical field of satellite navigation positioning, in particular to a method for calculating deviation of adjacent product boundaries of an IGS GNSS satellite clock error and an orbit single day.
Background
IGS (International GNSS Service) service organization provides GNSS high-precision satellite orbit and satellite clock error products of a single day, and performs data processing for GNSS precise single-point positioning users; IGS (International GNSS Service) the single-day GNSS high-precision satellite orbit product sampling interval issued by the service organization is 15 minutes, the satellite clock difference is the product with different sampling intervals of 5 seconds, 30 seconds and the like, the single-day GNSS double-frequency observation value is applied to the calculation of the single-day GNSS high-precision satellite orbit and satellite clock difference product of the IGS, and the single-day satellite orbit and clock difference product of the IGS service has strict self-consistency so as to obtain a high-precision GNSS precise single-point positioning result.
In GNSS precise single-point positioning data processing, a GNSS satellite orbit adopts an n-order Lagrange interpolation method to acquire satellite positions at corresponding moments, and a sampling linear function interpolation method to acquire satellite clock differences at corresponding moments; when the GNSS precise single-point positioning data processing is carried out at the space boundary, IGS GNSS high-precision satellite orbit products of two days before and after are used; the precise single-point positioning result of the GNSS is discontinuous at the boundary of the sky and has abnormality under the influence of the high-precision satellite clock error of the IGS GNSS and the discontinuous continuity of the adjacent products on a single day of orbit.
In order to weaken the influence of single-day satellite clock differences of an IGS GNSS (Beidou, GPS, galileo and the like) and the discontinuity of an orbit adjacent product on GNSS precise single-point positioning so as to improve the precision of a GNSS precise single-point positioning result at a boundary of the sky, the application discloses a deviation calculation method of the single-day adjacent product boundary of the IGS GNSS satellite clock differences and the orbit, which has important significance for improving the precision of the positioning result at the boundary of the GNSS precise single-point positioning sky, improving the service performance of the IGS GNSS satellite clock differences and the orbit product and applying the method.
Disclosure of Invention
This section is intended to outline some aspects of embodiments of the application and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section as well as in the description of the application and in the title of the application, which may not be used to limit the scope of the application.
The present application has been made in view of the above-described problems.
Therefore, the technical problems solved by the application are as follows: the existing IGS (International GNSS Service) GNSS (Beidou, GPS, galileo and the like) satellite orbit and clock error adjacent product discontinuity and the positioning precision of corresponding GNSS precise single-point positioning at the sky boundary is poor.
In order to solve the technical problems, the application provides the following technical scheme: the method for calculating the deviation of the adjacent product boundary of the IGS GNSS satellite clock error and the orbit single day comprises the following steps: determining the time span and the time period of the deviation of the IGS GNSS satellite clock difference to be calculated and the adjacent product boundary of the single day of the orbit; determining an observation period of a global or local GNSS reference station using the period; and selecting a double-frequency observation value and ionosphere-free delay phase combination B1/B2, a pseudo-range combination C1/C2, an IGS GNSS satellite orbit and clock difference products corresponding to the double-frequency observation value based on the observation period of the global or local GNSS reference station, and calculating the deviation of the IGS GNSS satellite clock difference and the boundary of the adjacent products on a single day of orbit.
As a preferable scheme of the method for calculating the deviation of the IGS GNSS satellite clock error and the adjacent product boundary of the single day of orbit, the application comprises the following steps: the determination of the time span includes that,
and determining the time span of the IGS GNSS satellite clock difference to be calculated and the deviation at the boundary of the adjacent products on a single day of orbit according to the Lagrange order adopted during the satellite orbit interpolation in the GNSS precise single-point positioning.
As a preferable scheme of the method for calculating the deviation of the IGS GNSS satellite clock error and the adjacent product boundary of the single day of orbit, the application comprises the following steps: the calculation of the time span t includes,
wherein n represents the Lagrangian order used in satellite orbit interpolation in GNSS precise single-point positioning.
As a preferable scheme of the method for calculating the deviation of the IGS GNSS satellite clock error and the adjacent product boundary of the single day of orbit, the application comprises the following steps: the determination of the period of time of the IGS GNSS satellite clock bias and the bias at the boundary of the adjacent products on an orbital single day includes,
determining the time periods of the deviation at the boundaries of the IGS GNSS satellite clock difference and the adjacent products on the single day of the orbit according to the time span t, namely the starting time and the ending time of the deviation sequences at the boundaries of the IGS GNSS satellite clock difference and the adjacent products on the single day of the orbit to be calculated;
the start time includes a time corresponding to 24 points 0 minutes 0 seconds minus t minutes of the first day, and the end time includes a time corresponding to 0 points 0 minutes 0 seconds plus t minutes of the second day.
As a preferable scheme of the method for calculating the deviation of the IGS GNSS satellite clock error and the adjacent product boundary of the single day of orbit, the application comprises the following steps: the determination of the period of observation of the global or local GNSS reference station includes,
determining an observation period of the global or local GNSS reference station, namely a start observation time and a stop observation time of the global or local GNSS reference station, by using the period;
the starting observation time includes a time corresponding to 24 points 0 minutes 0 seconds minus (t+120) minutes on the first day, and the ending observation time includes a time corresponding to 0 points 0 minutes 0 seconds plus t minutes on the second day.
As a preferable scheme of the method for calculating the deviation of the IGS GNSS satellite clock error and the adjacent product boundary of the single day of orbit, the application comprises the following steps: the computation of the IGS GNSS satellite clock bias and bias at the boundaries of the adjacent products on a single day of orbit includes,
and linearizing the selected ionospheric-free delay phase combination B1/B2 and the pseudorange combination C1/C2 by ionospheric-free delay combination, fixing coordinates of a reference station, GNSS satellite orbits and clock differences in the linearization process, and interpolating the GNSS satellite orbits with a determined Lagrangian order.
As a preferable scheme of the method for calculating the deviation of the IGS GNSS satellite clock error and the adjacent product boundary of the single day of orbit, the application comprises the following steps: also included is a method of manufacturing a semiconductor device,
based on the linearization process, determining an observation equation corresponding to the calculation parameter;
and solving the solving parameters by adopting a least square or Kalman filtering estimation method through the observation equation.
As a preferable scheme of the method for calculating the deviation of the IGS GNSS satellite clock error and the adjacent product boundary of the single day of orbit, the application comprises the following steps: the calculation of ionospheric-free delay combination linearization includes,
wherein ,representing ionospheric-free delay phase, delta, corresponding to satellites s in reference station r r Representing receiver clock differences corresponding to epoch i reference station r, bias s Representing epoch i IGS GNSS satellite clock errors and deviations at the boundary of the adjacent products on a single day of orbit,indicating that reference station r satellite s corresponds to phase ambiguity, < >>Indicating that epoch i reference station r satellite s corresponds to tropospheric delay,indicating ionospheric-free delay phase corresponding to reference station r satellite s, i indicating epoch,/->Pseudo-range combination residual error corresponding to reference station r satellite s,/->Representing the difference between the corresponding combination of pseudoranges and the various corrections for reference station r satellite s.
As a preferable scheme of the method for calculating the deviation of the IGS GNSS satellite clock error and the adjacent product boundary of the single day of orbit, the application comprises the following steps: the various corrections include phase wrapping, receiver and satellite antenna phase center correction, solid tide, phase wrapping, earth rotation correction, sea tide correction.
As a preferable scheme of the method for calculating the deviation of the IGS GNSS satellite clock error and the adjacent product boundary of the single day of orbit, the application comprises the following steps: the solution parameters include tropospheric delay, GNSS receiver clock bias, GNSS satellite clock bias and bias at the boundaries of the adjacent products on a single day of orbit, phase ambiguity.
The application has the beneficial effects that: aiming at the discontinuity of the IGS GNSS orbit and the satellite clock error single-day adjacent products and the influence of the discontinuity on the GNSS precise single-point positioning day boundary, the application discloses a method for calculating the deviation of the satellite clock error of IGS (International GNSS Service) GNSS (Beidou, GPS, galileo and the like) and the orbit single-day adjacent products boundary so as to weaken the influence of the discontinuity of the IGS GNSS orbit and the satellite clock error single-day adjacent products on the GNSS precise single-point positioning at the day boundary, make up the defect of the IGS GNSS orbit and the clock error service products and improve the positioning result at the GNSS precise single-point positioning day boundary.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:
FIG. 1 is a flowchart illustrating a method for calculating the clock bias of an IGS GNSS satellite and the bias at the boundary between adjacent products on a single day of orbit according to an embodiment of the present application;
FIG. 2 is a graph showing the results of GPS satellites G05, G06 and G13 according to the method for calculating the clock bias of the IGS GNSS satellites and the deviation at the boundary between adjacent products on a single day of orbit according to the second embodiment of the present application;
FIG. 3 is a graph showing the effect of the method for calculating the deviation between the clock bias of the IGS GNSS satellite and the boundary between adjacent products on a single day of orbit in precise GNSS single point positioning according to a second embodiment of the present application.
Detailed Description
So that the manner in which the above recited objects, features and advantages of the present application can be understood in detail, a more particular description of the application, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present application is not limited to the specific embodiments disclosed below.
Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be included in at least one implementation of the application. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
While the embodiments of the present application have been illustrated and described in detail in the drawings, the cross-sectional view of the device structure is not to scale in the general sense for ease of illustration, and the drawings are merely exemplary and should not be construed as limiting the scope of the application. In addition, the three-dimensional dimensions of length, width and depth should be included in actual fabrication.
Also in the description of the present application, it should be noted that the orientation or positional relationship indicated by the terms "upper, lower, inner and outer", etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first, second, or third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The terms "mounted, connected, and coupled" should be construed broadly in this disclosure unless otherwise specifically indicated and defined, such as: can be fixed connection, detachable connection or integral connection; it may also be a mechanical connection, an electrical connection, or a direct connection, or may be indirectly connected through an intermediate medium, or may be a communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
Example 1
Referring to fig. 1, in one embodiment of the present application, a method for calculating the offset at the boundary between adjacent products on a single day of the IGS GNSS satellite clock and orbit is provided, which includes:
s1: the time span and period of the offset at the boundary of the adjacent product on a single day of orbit and the IGS GNSS satellite clock that needs to be calculated are determined. It should be noted that:
determining the time span of the IGS GNSS satellite clock difference to be calculated and the deviation at the boundary of the adjacent products on a single day of orbit according to the Lagrange order adopted during the satellite orbit interpolation in the GNSS precise single-point positioning;
the calculation of the time span t includes,
wherein n represents Lagrangian order adopted during satellite orbit interpolation in GNSS precise single-point positioning;
further, determining the time periods of the deviation at the boundaries of the IGS GNSS satellite clock difference and the adjacent products on the single day of the orbit according to the time span t, namely the starting time and the ending time of the deviation sequences at the boundaries of the IGS GNSS satellite clock difference and the adjacent products on the single day of the orbit to be calculated;
it should be noted that the start time includes a time corresponding to 24 points 0 minutes 0 seconds minus t minutes on the first day, and the end time includes a time corresponding to 0 points 0 minutes 0 seconds plus t minutes on the second day.
S2: the period of observation of global or local GNSS reference stations is determined using IGS GNSS satellite clock differences and the period of deviation at the boundaries of the orbiting single day adjacent products. It should be noted that:
the determination of the period of observation of the global or local GNSS reference station includes,
determining an observation period of the global or local GNSS reference station by using the period, namely, a start observation time and a stop observation time of the global or local GNSS reference station;
it should be noted that the start observation time includes a time corresponding to 24 points 0 minutes 0 seconds minus (t+120) minutes on the first day, and the end observation time includes a time corresponding to 0 points 0 minutes 0 seconds plus t minutes on the second day.
S3: and selecting a double-frequency observation value and ionosphere-free delay phase combination B1/B2, a pseudo-range combination C1/C2, an IGS GNSS satellite orbit and a clock difference product corresponding to the double-frequency observation value based on the observation period of the global or local GNSS reference station, and calculating the deviation of the IGS GNSS satellite clock difference and the boundary of the adjacent products on a single day of orbit. It should be noted that:
calculation of IGS GNSS satellite clock bias and bias at the boundaries of the adjacent products on a single day of orbit includes,
carrying out ionosphere-free delay combination linearization on the selected ionosphere-free delay phase combination B1/B2 and pseudo-range combination C1/C2, fixing coordinates of a reference station, GNSS satellite orbits and clock differences in the linearization process, and interpolating the GNSS satellite orbits according to the determined Lagrangian order;
it should be noted that the calculation of ionospheric-free delay combination linearization includes,
wherein ,representing ionospheric-free delay phase, delta, corresponding to satellites s in reference station r r Representing receiver clock differences corresponding to epoch i reference station r, bias s Representing epoch i IGS GNSS satellite clock errors and deviations at the boundary of the adjacent products on a single day of orbit,representing referencesStation r satellite s corresponds to phase ambiguity, < >>Indicating that epoch i reference station r satellite s corresponds to tropospheric delay,indicating ionospheric-free delay phase corresponding to reference station r satellite s, i indicating epoch,/->Pseudo-range combination residual error corresponding to reference station r satellite s,/->Representing the difference between the corresponding pseudo-range combinations of the reference station r satellite s and various corrections including phase wrapping, receiver and satellite antenna phase center correction, solid tide, phase wrapping, earth rotation correction, sea tide correction;
further, determining an observation equation corresponding to the solving parameter based on the linearization process;
it should be noted that the calculation parameters include tropospheric delay, GNSS receiver clock bias, GNSS satellite clock bias and offset at the boundary of the adjacent products on a single day of orbit, phase ambiguity;
furthermore, solving the solving parameters by adopting a least square or Kalman filtering estimation method through an observation equation;
it should be noted that, aiming at the discontinuity of the adjacent products of the IGS GNSS orbit and the satellite clock error and the influence of the discontinuity on the positioning result of the adjacent products of the GNSS precise single-point positioning on the boundary of the sky, the application discloses a method for calculating the deviation of the satellite clock error of IGS (International GNSS Service) GNSS (Beidou, GPS, galileo and the like) and the adjacent products of the orbit single-day, so as to weaken the influence of the discontinuity of the adjacent products of the IGS GNSS orbit and the satellite clock error on the precise single-point positioning of the GNSS on the boundary of the sky, make up the defect of the service products of the IGS GNSS orbit and the clock error, and improve the positioning result of the precise single-point positioning on the boundary of the GNSS.
Example 2
Referring to fig. 2-3, a second embodiment of the present application, which is different from the first embodiment, provides verification tests of IGS GNSS satellite clock error and deviation calculation method at the boundary of adjacent products on a single day of orbit, so as to verify and explain the technical effects adopted in the method.
The experiment adopts a 9-order Lagrangian function to conduct satellite orbit interpolation in GNSS precise single-point positioning, and conduct calculation of GPS time 2022, 4 th year, 4 th month, 4 th day and 2022, 4 th month, 5 th day and two days IGS satellite clock difference and deviation of adjacent boundaries of orbit products, and the specific steps are as follows:
1) Determining the time span of the IGS GPS satellite clock bias and the bias at the boundary of the adjacent products on a single day of orbit: according to a 9-order Lagrangian difference function adopted by GNSS precise single-point positioning, calculating to obtain the time span of the deviation of the IGS GPS satellite clock difference and the adjacent product boundary of the orbit on a single day is 150 minutes;
2) Determining the period of IGS GPS satellite clock bias and bias at the boundary of the adjacent products on a single day of orbit: adopting the time interval of the deviation between the IGS GPS satellite clock difference to be calculated and the adjacent product boundary of the single day of the orbit, which is obtained in the step 1), wherein the starting time is 2022, 4, 22 and 15 minutes at the GPS, and the ending time is 2022, 4, 5, 1 and 15 minutes at the GPS;
3) Determining a global or local GNSS reference station observation period: calculating a global or local GPS reference station observation period by adopting the period of the IGS GPS satellite clock difference to be calculated obtained in the step 2) and the deviation at the boundary of the adjacent products on a single day of orbit, namely, the starting observation time is 2022, 4, 20 points 45 minutes in the GPS, and the ending time is 2022, 4, 5, 1 points 15 minutes;
4) Global or local GPS reference station observation periods correspond to ionospheric-free delay linearization: the global or local GNSS reference station observation from 20 points 45 minutes of 4 th month 4 of the GPS to 1 point 15 minutes of 5 th month 4 of the 2022 is adopted to correspond to ionosphere-free delay observation, linearization is carried out, and in the linearization process, the reference station coordinates, the IGS GPS satellite clock error and the orbit are fixed;
5) The column of the parameter solution equation: the solution equation of the parameters including IGS GNSS satellite clock difference, deviation at the boundary of the adjacent products on a single day of orbit, tropospheric delay, ambiguity and receiver clock difference is calculated by adopting a linearization square name column-stand parameter solution equation from 20 minutes of 20 days of 4 months of 2022 to 15 minutes of 1 hour of 5 days of 2022.
6) Calculation of the offset at the boundary of the adjacent products on single days of IGS GPS satellite clock and on track GPS 2022, 4 months 4 days, 2022, 4 months 5 days: and 4) obtaining a linearization observation equation by adopting the step 4), and calculating deviation at the boundaries of adjacent products of the IGS GPS satellite clock difference and the single days of 2022, 4 th month and 4 th day and 2022, 4 th month and 5 th day in the orbital GPS within the period from 2022, 4 th month and 22 th day and 45 th minute to 2022, 4 th month and 5 th day in the GPS by least square or Kalman filtering.
In the step, through calculating the IGS GPS satellite clock error, the GPS satellite clock error and the deviation of adjacent boundaries of the orbit products, the positioning precision of the GPS precise single-point positioning day boundaries is improved, and the parameter convergence time is accelerated. Therefore, the method for calculating the deviation of the adjacent product boundary of the IGS GNSS satellite clock error and the orbit single day can overcome the defects of discontinuous and self-consistent space between the current IGS satellite orbit and clock error products.
It should be noted that the above embodiments are only for illustrating the technical solution of the present application and not for limiting the same, and although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present application may be modified or substituted without departing from the spirit and scope of the technical solution of the present application, which is intended to be covered in the scope of the claims of the present application.

Claims (7)

  1. The method for calculating the deviation of the adjacent product boundary of the IGS GNSS satellite clock error and the orbit single day is characterized by comprising the following steps:
    determining the time span and the time period of the deviation of the IGS GNSS satellite clock difference to be calculated and the adjacent product boundary of the single day of the orbit;
    determining an observation period of a global or local GNSS reference station using the period;
    selecting a double-frequency observation value and ionosphere-free delay phase combination B1/B2, a pseudo-range combination C1/C2, an IGS GNSS satellite orbit and a clock difference product corresponding to the double-frequency observation value based on the observation period of the global or local GNSS reference station, and calculating the deviation of the IGS GNSS satellite clock difference and the boundary of the adjacent products on a single day of orbit;
    calculation of IGS GNSS satellite clock bias and bias at the boundaries of the adjacent products on a single day of orbit includes,
    carrying out ionospheric-free delay combination linearization on the selected ionospheric-free delay phase combination B1/B2 and pseudo-range combination C1/C2, fixing coordinates of a reference station, GNSS satellite orbits and clock differences in the linearization process, and interpolating the GNSS satellite orbits according to the determined Lagrangian order;
    based on the linearization process, determining an observation equation corresponding to the calculation parameter;
    solving the solving parameters by adopting a least square or Kalman filtering estimation method through the observation equation;
    the calculation of ionospheric-free delay combination linearization includes,
    wherein ,representing ionospheric-free delay phase, delta, corresponding to satellites s in reference station r r Representing receiver clock differences corresponding to epoch i reference station r, bias s Indicating the bias at the boundary of the epoch i IGS GNSS satellite clock and the orbit single day adjacent products, +.>Indicating that reference station r satellite s corresponds to phase ambiguity, < >>Reference station r guard for representing epoch iStar s corresponds to tropospheric delay, +.>Indicating ionospheric-free delay phase corresponding to reference station r satellite s, i indicating epoch,/->Pseudo-range combination residual error corresponding to reference station r satellite s,/->Representing the difference between the corresponding combination of pseudoranges and the various corrections for reference station r satellite s.
  2. 2. The IGS GNSS satellite clock correction and orbit single day adjacent product boundary bias calculation method of claim 1, wherein: the determination of the time span includes that,
    and determining the time span of the IGS GNSS satellite clock difference to be calculated and the deviation at the boundary of the adjacent products on a single day of orbit according to the Lagrange order adopted during the satellite orbit interpolation in the GNSS precise single-point positioning.
  3. 3. The IGS GNSS satellite clock correction and orbit single day adjacent product boundary bias calculation method of claim 2, wherein: the calculation of the time span t includes,
    wherein n represents the Lagrangian order used in satellite orbit interpolation in GNSS precise single-point positioning.
  4. 4. The IGS GNSS satellite clock correction and orbit single day adjacent product boundary bias calculation method of claim 3, wherein: the determination of the period of time of the IGS GNSS satellite clock bias and the bias at the boundary of the adjacent products on an orbital single day includes,
    determining the time periods of the deviation at the boundaries of the IGS GNSS satellite clock difference and the adjacent products on the single day of the orbit according to the time span t, namely the starting time and the ending time of the deviation sequences at the boundaries of the IGS GNSS satellite clock difference and the adjacent products on the single day of the orbit to be calculated;
    the start time includes a time corresponding to 24 points 0 minutes 0 seconds minus t minutes of the first day, and the end time includes a time corresponding to 0 points 0 minutes 0 seconds plus t minutes of the second day.
  5. 5. The IGS GNSS satellite clock correction and orbit single day adjacent product boundary bias calculation method of claim 4, wherein: the determination of the period of observation of the global or local GNSS reference station includes,
    determining an observation period of the global or local GNSS reference station, namely a start observation time and a stop observation time of the global or local GNSS reference station, by using the period;
    the initial observation time comprises a time corresponding to 24 points 0 minutes 0 seconds minus t+120 minutes on the first day, and the final observation time comprises a time corresponding to 0 points 0 minutes 0 seconds plus t minutes on the second day.
  6. 6. The IGS GNSS satellite clock correction and orbit single day adjacent product boundary bias calculation method of claim 1, wherein: the various corrections include phase wrapping, receiver and satellite antenna phase center correction, solid tide, phase wrapping, earth rotation correction, sea tide correction.
  7. 7. The IGS GNSS satellite clock correction and orbit single day adjacent product boundary bias calculation method of claim 1, wherein: the solution parameters include tropospheric delay, GNSS receiver clock bias, GNSS satellite clock bias and bias at the boundaries of the adjacent products on a single day of orbit, phase ambiguity.
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