CN117331107A - IGS GNSS real-time service interruption real-time precise single-point positioning method and system - Google Patents

IGS GNSS real-time service interruption real-time precise single-point positioning method and system Download PDF

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CN117331107A
CN117331107A CN202311036378.2A CN202311036378A CN117331107A CN 117331107 A CN117331107 A CN 117331107A CN 202311036378 A CN202311036378 A CN 202311036378A CN 117331107 A CN117331107 A CN 117331107A
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real
time
gnss
igs
clock difference
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李浩军
李晓明
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Tongji University
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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
    • G01S19/38—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
    • G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
    • 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
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/04—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing carrier phase data
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/1851—Systems using a satellite or space-based relay
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04J—MULTIPLEX COMMUNICATION
    • H04J3/00—Time-division multiplex systems
    • H04J3/02—Details
    • H04J3/06—Synchronising arrangements
    • H04J3/0635—Clock or time synchronisation in a network
    • H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
    • H04J3/0658—Clock or time synchronisation among packet nodes

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Astronomy & Astrophysics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a real-time precise single-point positioning method and a system for IGS GNSS real-time service interruption, which relate to the technical field of satellite navigation positioning and comprise the following steps: determining the IGS service clock difference change characteristics of a user, and constructing a real-time GNSS satellite clock difference extrapolation function model; determining the length of a satellite clock error fitting sequence adopted when the extrapolation accuracy is highest as the length of the shortest clock error to be saved by a user; calculating a fitting GNSS satellite clock difference extrapolation function coefficient when the real-time service is interrupted and extrapolating the real-time satellite clock difference; and calculating precise single-point positioning under the condition of communication interruption of the IGS GNSS real-time service. The real-time precise single-point positioning method for the IGS GNSS real-time service interruption constructs a function model accurately expressing the variation characteristic of the IGS RTS service clock error, so as to reduce the influence of the GNSS satellite clock error real-time service communication interruption on the continuous and high-precision positioning of the GNSS user, maintain the high-precision and continuous precise positioning of the real-time PPP user when the communication interruption, and save the memory space of the user terminal.

Description

IGS GNSS real-time service interruption real-time precise single-point positioning method and system
Technical Field
The invention relates to the technical field of satellite navigation positioning, in particular to a real-time precise single-point positioning method and system for IGS GNSS real-time service interruption.
Background
Real-time applications such as real-time precise single-point positioning and real-time atmospheric vapor inversion promote the development of product estimation and service such as real-time satellite clock error and orbit. The IGS real-time working group is established in 2011, each real-time analysis center estimates satellite clock errors by adopting double-frequency phases and pseudo-range observation values of a global or regional GNSS observation network, and in order to further improve the calculation efficiency, an inter-epoch difference method is adopted, which eliminates a large number of phase ambiguity parameters, thereby realizing the estimation of high-frequency satellite clock error products. Each analysis center provides real-time services for GNSS satellite orbit and clock correction relative to broadcast ephemeris, the corrections being broadcast over the network, with update frequency typically 5 seconds. The high-frequency real-time satellite clock correction product provided by the IGS increases the dependence on network communication between a real-time precise single point positioning (PPP) user terminal and a server terminal, and when network connection is interrupted due to natural disasters such as earthquake, heavy rain and the like, a user cannot acquire real-time satellite orbit and clock correction, so that the precision requirements of applications such as real-time precise single point positioning and the like cannot be maintained. The user generally recovers the satellite clock error by storing the satellite clock error correction before communication interruption and combining broadcast ephemeris, and extrapolates the real-time clock error by adopting a forecasting algorithm, but the shortest IGS RTS data length required to be acquired by the user terminal is not analyzed, and the function model of the current forecasting algorithm is not constructed based on the change characteristics of the IGS RTS satellite clock error correction. The IGS ultra-fast orbit product can meet the centimeter-level positioning requirement, so that the user positioning is mainly influenced by satellite clock correction after the communication interruption of the IGS GNSS real-time service, and the method for processing the IGS GNSS satellite clock correction real-time service communication interruption condition of the ultra-fast orbit product has important significance for maintaining the high-precision and continuous precise positioning of the real-time PPP user during the communication interruption in order to save the memory space of a user terminal and construct a function model accurately expressing the change characteristic of the real-time satellite clock correction.
Disclosure of Invention
The present invention has been made in view of the above-described problems.
Therefore, the technical problems solved by the invention are as follows: the existing IGS positioning method has the problems of high memory space occupation, dependence on network communication and optimization of the precision requirements of applications such as maintaining real-time precision single-point positioning.
In order to solve the technical problems, the invention provides the following technical scheme: the real-time precise single-point positioning method for the IGS GNSS real-time service interruption comprises the following steps: determining the IGS service clock difference change characteristics of a user, and constructing a real-time GNSS satellite clock difference extrapolation function model; determining the length of a satellite clock error fitting sequence adopted when the extrapolation accuracy is highest as the length of the shortest clock error to be saved by a user; calculating a fitting GNSS satellite clock difference extrapolation function coefficient when the real-time service is interrupted and extrapolating the real-time satellite clock difference; and calculating precise single-point positioning under the condition of communication interruption of the IGS GNSS real-time service.
As a preferable scheme of the IGS GNSS real-time service interruption real-time precise single point positioning method, the invention comprises the following steps: the IGS RTS service clock difference change characteristic comprises the characteristic of collecting the IGS RTS real-time GNSS satellite clock difference correction analysis IGS RTS service clock difference change of the user.
As a preferable scheme of the IGS GNSS real-time service interruption real-time precise single point positioning method, the invention comprises the following steps: the construction of the real-time GNSS satellite clock difference extrapolation function model comprises the steps of determining a satellite clock difference extrapolation function under the condition of communication interruption of an IGS GNSS satellite clock difference real-time service according to the periodic characteristics of a GNSS satellite high-performance atomic clock, wherein the satellite clock difference extrapolation function is expressed as follows:
wherein t is the observation time, dt s (t) real-time satellite clock correction of IGSRTS at time t, a 0 And a k (k=1, 2) is a polynomial function model coefficient expressing the characteristic of the IGSRTS service clock difference variation trend term, k represents the order of the polynomial, T i 、A i And phi is i Respectively, a period, an amplitude and an initial phase, i being the order of the harmonic function.
As a preferable scheme of the IGS GNSS real-time service interruption real-time precise single point positioning method, the invention comprises the following steps: the shortest clock difference length required to be saved by the user comprises the steps of fitting and calculating satellite clock difference function coefficients by adopting real-time clock difference sequences with different lengths saved by the user side before communication interruption based on a satellite clock difference function model, extrapolating the real-time satellite clock difference, and determining the clock difference sequence length with the highest extrapolating precision as the shortest length of the real-time clock difference sequence required to be saved by the user.
As a preferable scheme of the IGS GNSS real-time service interruption real-time precise single point positioning method, the invention comprises the following steps: the extrapolating of the real-time satellite clock comprises combining the satellite clock when communication is interrupted with an IGS ultra-fast satellite orbit product, and linearizing the ionosphere-free delay combination according to the GNSS observation value of the user receiver by using the ionosphere-free delay phase combination B1/B2 and the pseudo-range combination C1/C2.
As a preferable scheme of the IGS GNSS real-time service interruption real-time precise single point positioning method, the invention comprises the following steps: the ionospheric-free delay-combining linearization is expressed as:
wherein the method comprises the steps ofAnd->Representing ionosphere-free pseudoranges and carrier phase observations, respectively,/->For no geometrical distance between satellite and receiver, c is the speed of light under vacuum, dt r And dt (dt) s Representing receiver clock error and satellite clock error, b r And b s Pseudo-range hardware delays representing receiver and satellite side, respectively, B r And B s Representing the phase hardware delay at the receiver and satellite side, respectively,/->Represents integer ambiguity, lambda IF Indicating ionosphere-free combined wavelengthZHD and ZWD are tropospheric dry and wet delays, mf h And mf w Mapping function corresponding to dry and wet delay, < ->And->Representing pseudorange and phase observation noise.
As a preferable scheme of the IGS GNSS real-time service interruption real-time precise single point positioning method, the invention comprises the following steps: the calculation of precise single-point positioning under the condition of IGS GNSS real-time service communication interruption comprises GNSS ionosphere-free delay phase and pseudo-range observation linearization equation, and prediction of GNSS receiver three-dimensional position error, troposphere delay, ambiguity and receiver clock error parameters is carried out through a least square method or Kalman filtering.
Another object of the present invention is to provide a real-time precise single-point positioning system for IGS GNSS real-time service interruption, which can solve the problem of insufficient positioning accuracy when network connection is lost at present by constructing a function model accurately expressing the variation characteristics of IGS rts service clock differences.
As a preferred solution of the IGS GNSS real-time service interruption real-time precise single point positioning system of the present invention, wherein: the system comprises a clock error extrapolation function construction module, a user shortest clock error length determination module, a real-time satellite clock error extrapolation module and a precise single-point positioning module; the clock error extrapolation function construction module constructs a real-time GNSS satellite clock error extrapolation function model according to the GSRTS service clock error change characteristic; the user shortest clock difference length determining module is used for extrapolating the clock difference sequence length adopted by the highest precision as the shortest length of the real-time clock difference sequence which needs to be saved by the user; the real-time satellite clock difference extrapolation module is used for determining an extrapolated real-time satellite clock difference according to a satellite clock difference function, the acquired IGS GNSS real-time clock difference and a fitting GNSS satellite clock difference extrapolation function coefficient when real-time service is interrupted; and the precise single-point positioning module estimates three-dimensional position errors, troposphere delays, ambiguities and receiver clock error parameters of the GNSS receiver according to the GNSS ionosphere-free delay phase and the pseudo-range observation linearization equation.
A computer device comprising a memory and a processor, said memory storing a computer program, characterized in that execution of said computer program by said processor is the step of implementing a real-time precision single point positioning method for IGS GNSS real-time service interruption.
A computer readable storage medium having stored thereon a computer program, characterized in that the computer program when executed by a processor implements the steps of a real-time precision single point positioning method for IGS GNSS real-time service interruption.
The invention has the beneficial effects that: the method for positioning the real-time precision single point of the IGS GNSS real-time service interruption constructs a function model accurately expressing the variation characteristic of the IGSRTS service clock error, so as to reduce the influence of the GNSS satellite clock error real-time service interruption on the continuous and high-precision positioning of the GNSS user, maintain the high-precision and continuous precision positioning of the real-time PPP user when the communication is interrupted, and save the memory space of the user terminal. The invention has better effects in the aspects of continuity, positioning precision and memory saving.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for 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 invention, 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 an IGS GNSS real-time service interruption real-time precise single point positioning method according to a first embodiment of the present invention.
FIG. 2 is a flowchart illustrating a GPS usage of an IGS GNSS real-time service interruption real-time precise single point positioning method according to a second embodiment of the present invention.
Fig. 3 is a bar chart of a clock extrapolation result of a method for processing an IGS GNSS real-time service interruption according to a second embodiment of the present invention.
Fig. 4 is a positioning result discount chart of a real-time precise single-point positioning method for an IGS GNSS real-time service interruption according to a second embodiment of the present invention, where the positioning result is a real-time precise single-point positioning processing method under the condition of the IGS GNSS real-time service interruption by taking GPS as an example.
FIG. 5 is a flowchart illustrating an IGS GNSS real-time service interruption real-time precise single point positioning system according to a third embodiment of the present invention.
Detailed Description
So that the manner in which the above recited objects, features and advantages of the present invention can be understood in detail, a more particular description of the invention, 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 invention without making any inventive effort, shall fall within the scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present invention 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 invention. 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 invention 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 invention. In addition, the three-dimensional dimensions of length, width and depth should be included in actual fabrication.
Also in the description of the present invention, 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 invention 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 invention. 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 invention will be understood in specific cases by those of ordinary skill in the art.
Example 1
Referring to fig. 1, for one embodiment of the present invention, a real-time precise single point positioning method for IGS GNSS real-time service interruption is provided, including:
s1: and determining the change characteristics of the IGS RTS service clock difference of the user, and constructing a real-time GNSS satellite clock difference extrapolation function model.
Furthermore, the IGS RTS service clock variation characteristic includes a characteristic of acquiring an IGS RTS real-time GNSS satellite clock correction of the user and analyzing an IGS RTS service clock variation.
It should be noted that, constructing the real-time GNSS satellite clock extrapolation function model includes determining a satellite clock extrapolation function in the event of an IGS GNSS satellite clock real-time service communication outage according to the periodic characteristics of the GNSS satellite high-performance atomic clock, expressed as:
wherein t is the observation time, dt s (t) real-time satellite clock correction of IGSRTS at time t, a 0 And a k (k=1, 2) is a polynomial function model coefficient expressing the characteristic of the IGS RTS service clock variation trend term, k represents the order of the polynomial, T i 、A i And phi is i Respectively, a period, an amplitude and an initial phase, i being the order of the harmonic function.
S2: and determining the length of the satellite clock error fitting sequence adopted when the extrapolation accuracy is highest as the shortest clock error length required to be saved by a user.
Further, the shortest clock difference length required to be saved by the user comprises the steps of fitting and calculating satellite clock difference function coefficients by adopting real-time clock difference sequences with different lengths saved by the user side before communication interruption based on a satellite clock difference function model, extrapolating the real-time satellite clock difference, and determining the clock difference sequence length with the highest extrapolating precision as the shortest length of the real-time clock difference sequence required to be saved by the user.
It should be noted that, based on the satellite clock difference function to be calculated, the satellite clock difference function coefficient is calculated by fitting IGSRTS clock difference sequences of four different lengths acquired 1,2,3 and 4 hours before the communication interruption, and the real-time satellite clock difference is extrapolated, the length of the clock difference sequence adopted by the highest extrapolation precision is determined to be the shortest length of the real-time clock difference sequence required to be saved by the user, and the satellite clock difference under the condition of the real-time service interruption of four different IGS GNSS (1,2,5,10 minutes) is extrapolated in real time by adopting the determined satellite clock difference function and the saved satellite clock difference sequence when the user communication interruption.
It should also be noted that the user only needs to save the shortest clock skew length, thereby saving storage space and computing resources. The small amount of data occupation ensures that the user can quickly extrapolate satellite clock errors during communication breaks.
S3: and calculating the extrapolation function coefficient of the fitted GNSS satellite clock difference when the real-time service is interrupted and extrapolating the real-time satellite clock difference.
Furthermore, extrapolating the real-time satellite clock comprises linearizing the ionospheric-free delay combination according to the satellite clock when communication is interrupted, in combination with the IGS ultra-fast satellite orbit product, the GNSS observation value of the user receiver has the ionospheric-free delay phase combination B1/B2 and the pseudo-range combination C1/C2.
It should be noted that ionospheric-free delay combination linearization is expressed as:
wherein the method comprises the steps ofAnd->Representing ionosphere-free pseudoranges and carrier phase observations, respectively,/->For no geometrical distance between satellite and receiver, c is the speed of light under vacuum, dt r And dt (dt) s Representing receiver clock error and satellite clock error, b r And b s Pseudo-range hardware delays representing receiver and satellite side, respectively, B r And B s Representing the phase hardware delay at the receiver and satellite side, respectively,/->Represents integer ambiguity, lambda IF Represents ionosphere-free combined wavelength, ZHD and ZWD are troposphere dry and wet delays, mf, respectively h And mf w Mapping function corresponding to dry and wet delay, < ->And->Representing pseudorange and phase observation noise. Other errors include phase wrapping, receiver, satellite antenna phase center offset, tides, earth rotation, relativistic effects, etc. corrected using correlation models.
It should also be noted that when the network connection is interrupted, the user cannot acquire the satellite orbit and the clock correction in real time, so that the change characteristic of the calculated clock correction has a critical meaning in constructing the function model. The continuity of the positioning service can be maintained, and by predicting the clock correction of the satellite, the user can continue the GNSS positioning during the interruption of the network connection, ensuring the normal operation of critical applications such as navigation, measurement, etc. Although the predicted clock correction may not be as accurate as the real data, the use of the predicted value may significantly improve positioning accuracy over the complete absence of the clock correction. During network connection interruption, the user does not need to frequently attempt to reconnect the network to obtain real-time data, thereby saving computational and communication resources. By constructing a function model of the clock correction, the system can better cope with various abnormal conditions such as network connection interruption, data transmission delay and the like, thereby improving the robustness of the system. The predicted clock correction provides a time buffer for the user before the network connection is restored so that the user has enough time to take countermeasures, such as searching for other data sources or waiting for the network to recover.
S4: and calculating precise single-point positioning under the condition of communication interruption of the IGS GNSS real-time service.
Furthermore, the calculation of the precise single point location under the condition of the IGS GNSS real-time service communication interruption comprises the steps of GNSS ionosphere-free delay phase and pseudo-range observation linearization equation, and the prediction of the GNSS receiver three-dimensional position error, troposphere delay, ambiguity and receiver clock error parameters is carried out through a least square method or Kalman filtering.
Example 2
Referring to fig. 2-4, for one embodiment of the present invention, a real-time precise single point positioning method for IGS GNSS real-time service interruption is provided, and in order to verify the beneficial effects of the present invention, scientific demonstration is performed through economic benefit calculation and simulation experiments.
The quadratic polynomial and the eight-period harmonic function are adopted as satellite clock difference extrapolation functions, and GPS time is calculated by IGS GNSS satellite clock difference extrapolation of 8 months of 2022, 31 days of 8 months of 2022 and 3 days of 9 months of 2022 and PPP calculation is carried out, and the specific steps are as follows:
the satellite clock difference extrapolation function determination under the condition of the communication interruption of the IGS GNSS satellite clock difference real-time service: and analyzing the change characteristics of the real-time satellite clock difference with the length of 24 hours which is closest to the current moment and is acquired by the user side, wherein the IGSRTS service clock difference has trend items and period items, the number of the significant period items is 8, the satellite clock difference model precision and the number of model parameters are comprehensively considered, and a quadratic polynomial plus eight-period harmonic function model is constructed to be a satellite clock difference extrapolation model under the condition of IGS GNSS real-time service interruption.
Determination of the length of a real-time satellite clock difference sequence to be saved by a user under the condition of communication interruption of an IGS GNSS satellite clock difference real-time service: and (3) adopting the satellite clock difference model in the step (1) and satellite clock difference sequences with four different lengths of 1,2,3 and 4 hours to fit and calculate satellite clock difference model coefficients, and adopting the model coefficients to extrapolate satellite clock differences for 1,2,5,10 minutes respectively, namely simulating the satellite clock difference real-time service communication of the IGS GNSS to interrupt 1440,720,288,144 times a day respectively. The satellite clock error sequence length adopted by the average root mean square error of the three-day extrapolation clock error is the shortest length required to be saved by a user, and the corresponding fitting calculated coefficient is the clock error extrapolation coefficient under the condition of communication interruption of the real-time service of the IGS GNSS satellite clock error.
Under the condition that the IGS GNSS satellite clock error communication is interrupted, the global GNSS tracking station linearizes the ionosphere-free delay phase combination B1/B2 and the pseudo range combination C1/C2 observation equation of GPS, galileo, beidou three pseudo ranges and phase observation values: GPS time 2022, 8, 31 and 2022, 9, 3 is adopted for global GNSS tracking station observation, corresponding ionosphere-free delay observation and linearization, and in linearization, extrapolated GPS, galileo, beidou three-satellite clock error and ultra-fast orbit products are adopted for correcting satellite clock error and orbit error.
Calculating real-time precise single-point positioning under the condition of IGS GNSS satellite clock error communication interruption: and least squares or kalman filtering to calculate three-dimensional position errors, tropospheric delays, ambiguities, receiver clock-bias parameters from the GNSS tracking stations at GPS, 8.31 and 3.2022.
Referring to fig. 2 and 3, it can be seen that the processing method provided by the invention under the condition of interruption of the communication of the real-time service of the clock error of the IGS (International GNSS Service) GNSS (beidou three, GPS, galileo, etc.) can overcome the defects that the satellite clock error extrapolation algorithm under the condition of interruption of the real-time service of the satellite clock error of the current IGS GNSS needs to occupy more memory space of users, and the extrapolated clock error is used for real-time precise single-point positioning with low precision.
Example 3
Referring to FIG. 5, for one embodiment of the present invention, a real-time precision single point positioning system for IGS GNSS real-time service interruption is provided, comprising: the system comprises a clock difference extrapolation function construction module, a user shortest clock difference length determination module, a real-time satellite clock difference extrapolation module and a precise single-point positioning module.
The clock difference extrapolation function construction module constructs a real-time GNSS satellite clock difference extrapolation function model according to the GSRTS service clock difference change characteristic; the user shortest clock difference length determining module is used for extrapolating the clock difference sequence length adopted by the highest precision as the shortest length of the real-time clock difference sequence which needs to be saved by the user; the real-time satellite clock difference extrapolation module is used for determining an extrapolated real-time satellite clock difference according to the satellite clock difference function, the acquired IGS GNSS real-time clock difference and the fitted GNSS satellite clock difference extrapolation function coefficient when the real-time service is interrupted; and the precise single-point positioning module estimates three-dimensional position errors, tropospheric delays, ambiguities and receiver clock error parameters of the GNSS receiver according to the GNSS ionospheric-free delay phase and pseudo-range observation linearization equation.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method of the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium may even be paper or other suitable medium upon which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like. It should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention 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 invention may be modified or substituted without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered in the scope of the claims of the present invention.
It should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention 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 invention may be modified or substituted without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered in the scope of the claims of the present invention.

Claims (10)

  1. The real-time precise single point positioning method for the IGS GNSS real-time service interruption is characterized by comprising the following steps:
    determining the IGS service clock difference change characteristics of a user, and constructing a real-time GNSS satellite clock difference extrapolation function model;
    determining the length of a satellite clock error fitting sequence adopted when the extrapolation accuracy is highest as the length of the shortest clock error to be saved by a user;
    calculating a fitting GNSS satellite clock difference extrapolation function coefficient when the real-time service is interrupted and extrapolating the real-time satellite clock difference;
    and calculating precise single-point positioning under the condition of communication interruption of the IGS GNSS real-time service.
  2. 2. The IGS GNSS real-time service outage real-time precision single point positioning method of claim 1, wherein: the IGS RTS service clock difference change characteristic comprises the characteristic of collecting the IGS RTS real-time GNSS satellite clock difference correction analysis IGS RTS service clock difference change of the user.
  3. 3. The IGS GNSS real-time service outage real-time precision single point positioning method according to claim 1 or 2, wherein: the construction of the real-time GNSS satellite clock difference extrapolation function model comprises the steps of determining a satellite clock difference extrapolation function under the condition of communication interruption of an IGS GNSS satellite clock difference real-time service according to the periodic characteristics of a GNSS satellite high-performance atomic clock, wherein the satellite clock difference extrapolation function is expressed as follows:
    wherein t is the observation time, dt s (t) real-time satellite clock correction of IGS RTS at time t, a 0 And a k (k=1, 2) is a polynomial function model coefficient expressing the characteristic of the IGS RTS service clock variation trend term, k represents the order of the polynomial, T i 、A i And phi is i Respectively, a period, an amplitude and an initial phase, i being the order of the harmonic function.
  4. 4. The IGS GNSS real-time service outage real-time precision single point positioning method according to claim 3, wherein: the shortest clock difference length required to be saved by the user comprises the steps of fitting and calculating satellite clock difference function coefficients by adopting real-time clock difference sequences with different lengths saved by the user side before communication interruption based on a satellite clock difference function model, extrapolating the real-time satellite clock difference, and determining the clock difference sequence length with the highest extrapolating precision as the shortest length of the real-time clock difference sequence required to be saved by the user.
  5. 5. The IGS GNSS real-time service outage real-time precision single point positioning method of claim 4, wherein: the extrapolating of the real-time satellite clock comprises combining the satellite clock when communication is interrupted with an IGS ultra-fast satellite orbit product, and linearizing the ionosphere-free delay combination according to the GNSS observation value of the user receiver by using the ionosphere-free delay phase combination B1/B2 and the pseudo-range combination C1/C2.
  6. 6. The IGS GNSS real-time service outage real-time precision single point positioning method of claim 5, wherein: the ionospheric-free delay-combining linearization is expressed as:
    wherein the method comprises the steps ofAnd->Representing ionosphere-free pseudoranges and carrier phase observations, respectively,/->For no geometrical distance between satellite and receiver, c is the speed of light under vacuum, dt r And dt (dt) s Representing receiver clock error and satellite clock error, b r And b s Pseudo-range hardware delays representing receiver and satellite side, respectively, B r And B s Representing the phase hardware delay at the receiver and satellite side, respectively,/->Represents integer ambiguity, lambda IF Represents ionosphere-free combined wavelength, ZHD and ZWD are troposphere dry and wet delays, mf, respectively h And mf w Mapping function corresponding to dry and wet delay, < ->And->Representing pseudorange and phase observation noise.
  7. 7. The IGS GNSS real-time service outage real-time precision single point positioning method of claim 6, wherein: the calculation of precise single-point positioning under the condition of IGS GNSS real-time service communication interruption comprises GNSS ionosphere-free delay phase and pseudo-range observation linearization equation, and prediction of GNSS receiver three-dimensional position error, troposphere delay, ambiguity and receiver clock error parameters is carried out through a least square method or Kalman filtering.
  8. 8. A system employing the IGS GNSS real-time service outage real-time precision single point positioning method according to any of claims 1 to 7, wherein: the system comprises a clock error extrapolation function construction module, a user shortest clock error length determination module, a real-time satellite clock error extrapolation module and a precise single-point positioning module;
    the clock error extrapolation function construction module constructs a real-time GNSS satellite clock error extrapolation function model according to the GS RTS service clock error change characteristic;
    the user shortest clock difference length determining module is used for extrapolating the clock difference sequence length adopted by the highest precision as the shortest length of the real-time clock difference sequence which needs to be saved by the user;
    the real-time satellite clock difference extrapolation module is used for determining an extrapolated real-time satellite clock difference according to a satellite clock difference function, the acquired IGS GNSS real-time clock difference and a fitting GNSS satellite clock difference extrapolation function coefficient when real-time service is interrupted;
    and the precise single-point positioning module estimates three-dimensional position errors, troposphere delays, ambiguities and receiver clock error parameters of the GNSS receiver according to the GNSS ionosphere-free delay phase and the pseudo-range observation linearization equation.
  9. 9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the IGS GNSS real-time service interrupt real-time precision single point positioning method of any of claims 1 to 7.
  10. 10. A computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements the steps of the IGS GNSS real-time service interrupt real-time precision single point positioning method of any of claims 1 to 7.
CN202311036378.2A 2023-08-17 2023-08-17 IGS GNSS real-time service interruption real-time precise single-point positioning method and system Pending CN117331107A (en)

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