WO2024007365A1 - 一种基于北斗/gnss的实时高精度海表测量方法及浮标 - Google Patents

一种基于北斗/gnss的实时高精度海表测量方法及浮标 Download PDF

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WO2024007365A1
WO2024007365A1 PCT/CN2022/106279 CN2022106279W WO2024007365A1 WO 2024007365 A1 WO2024007365 A1 WO 2024007365A1 CN 2022106279 W CN2022106279 W CN 2022106279W WO 2024007365 A1 WO2024007365 A1 WO 2024007365A1
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gnss
precision
buoy
real
satellite
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PCT/CN2022/106279
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French (fr)
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刘杨
乔方利
王亚彬
刘焱雄
王岩峰
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自然资源部第一海洋研究所
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01W—METEOROLOGY
    • G01W1/00—Meteorology
    • G01W1/02—Instruments for indicating weather conditions by measuring two or more variables, e.g. humidity, pressure, temperature, cloud cover or wind speed
    • 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
    • G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • G01S19/256—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to timing, e.g. time of week, code phase, timing offset
    • 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
    • G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • G01S19/258—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view
    • 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

Definitions

  • the invention relates to the field of environmental monitoring and ocean navigation and positioning of all water environment scenes such as lakes, rivers, oceans, etc. Specifically, it is a real-time high-precision measurement method of sea surface water level, waves, ocean currents, and atmospheric water vapor content based on GNSS.
  • Sea surface water level, waves, ocean currents, and atmospheric water vapor content are important parameters for marine environment monitoring. Monitoring their changes and studying their patterns are of great significance to human maritime activities and disaster reduction and prevention of oceans and climate. In recent decades, with the increasing human development activities in the ocean, the research on sea surface observation methods and the development of instruments and equipment have been greatly promoted. At present, a variety of sea surface measurement instruments have emerged, such as large hydrometeorological buoys, accelerometer wave meters, GNSS buoy tide gauges, etc. Among them, the GNSS buoy uses the Global Navigation Satellite System (GNSS) to obtain the three-dimensional spatial position and time information of the buoy carrier, and has good continuous monitoring characteristics. It can effectively invert sea surface water level and wave elements through position information.
  • GNSS Global Navigation Satellite System
  • GNSS buoys combined with existing GNSS technology, can effectively observe sea surface water level and wave information, and have the advantages of simple system, low cost, and small size.
  • the First Institute of Oceanography of the Ministry of Natural Resources the application number is 202111084002. It only reaches better than 0.6m, so the real-time positioning accuracy is low.
  • Ocean University of China application number 202111454338.0 "Blanket-borne GNSS buoy for measuring two-dimensional sea surface height and measurement method" requires the use of an additional floating blanket to carry a GNSS antenna.
  • the floating blanket is fixed on a rubber boat, and a GNSS receiver is installed in the rubber boat.
  • the floating blanket needs to be stable enough to keep its GNSS antenna level; in order to reduce the weight of the floating blanket, the control system and power supply system need to be installed on additional inflatable boats, so the patent application requires multiple additional equipment. It did not explain the GNSS positioning data processing method, nor the GNSS real-time positioning accuracy.
  • the application number is 201510121794.1, "A river flow velocity measurement method and system based on GNSS-R technology.”
  • the patent technology applied by the Space Science and Applied Research Center of the Chinese Academy of Sciences requires the use of GNSS direct signal antennas and reflection signal antennas to measure the received GNSS The direct signal and reflected signal are down-converted and sampled, and the GNSS reflected signal is processed to obtain the residual phase output value.
  • GNSS RTK Real-Time Kinematic real-time carrier phase difference technology
  • PPK Post-Processing Kinematic dynamic post-processing difference technology
  • PPP Precision Point Positioning Precision single-point positioning technology
  • PPP positioning accuracy is not limited by distance and does not need to obtain data from one or more close-range base stations.
  • the accuracy of satellite orbits and clock offset products is an important factor affecting PPP positioning accuracy.
  • High-precision PPP relies on high-precision GNSS satellite orbits, clock errors and other correction products.
  • the real-time high-precision PPP method requires additional real-time precision differential correction products, which greatly increases the service cost and communication cost required for precision differential correction, and reduces Cost-effective application in real-time scenarios.
  • the existing GNSS-based ocean surface measurements mainly have the following shortcomings:
  • buoy GNSS observations must be transmitted back to the data processing center for real-time calculation, which requires a large amount of communication bandwidth and thus generates communication costs, especially for distant sea satellite communications.
  • the cost is high, and communication reduces the real-time nature of ocean monitoring; if buoy GNSS observations are solved in real time at the buoy locality, additional differential correction services are required.
  • buoy GNSS observations are solved in real time at the buoy locality, additional differential correction services are required.
  • it is necessary to communicate with land to obtain differential correction services while in distant seas, it is necessary to obtain differential correction services from communication satellites, thus increasing the cost of purchasing differential correction services and communications.
  • the buoy GNSS observation data must be transmitted back to the data processing center for post-processing calculations, which requires a large amount of communication bandwidth and thus generates communication costs, especially the cost of satellite communication in the open sea. ; If the GNSS data is read for calculation after the buoy is recovered, on the one hand, it increases the cost of the recovery operation and the degree of automation is poor. On the other hand, it also increases the cost of the buoy storing a large amount of GNSS data.
  • the present invention proposes a broadcast ephemeris that only needs to be equipped with one GNSS receiver (or board), is generally suitable for offshore and open sea scenarios, and directly uses GNSS satellites to broadcast and use free broadcast ephemeris, and
  • Real-time precision single-point positioning solves the longitude, latitude, geodetic height, and tropospheric delay of the GNSS antenna for each epoch; based on the zenith tropospheric delay estimated by precision single-point positioning, obtain the atmospheric water vapor content; use the calculated real-time precision
  • the satellite orbit, clock error and phase epoch differential observation equations are used to solve the three-dimensional velocity and acceleration of the GNSS antenna, and then the GNSS single antenna is used to solve the attitude angle, including azimuth angle, pitch angle and roll angle, and then the geodetic height, Attitude angle, static draft GNSS antenna to the pole arm vector of the water surface, calculate the height of the ground at each epoch of the water surface, and obtain the water level;
  • This invention proposes to directly use the broadcast ephemeris broadcast and used free of charge by GNSS satellites in ocean survey, and collect GNSS phase, pseudo-range observation values and GNSS broadcast ephemeris through the GNSS signal acquisition module carried on the buoy, as well as my country's Beidou satellite
  • the attitude angle of the GNSS single antenna is solved, including the azimuth angle, pitch angle and roll angle, and then based on the GNSS
  • the geodetic height of the antenna, attitude angle, static draft GNSS antenna to the pole arm vector of the water surface calculate the geodetic height of each epoch on the water surface, and obtain the water level.
  • the present invention can also use GNSS satellite-based enhancement services, satellite station differential services, precision positioning services, etc. that may be free in the future to obtain real-time high-precision centimeter-level sea surface measurement results and real-time centimeter-level to decimeter-level accuracy of buoy positions.
  • the Beidou PPP-B2b signal is used to obtain the corrected broadcast ephemeris.
  • the parameters of the satellite orbit and clock error information for correcting the GNSS broadcast ephemeris are the radial, tangential and normal components of the orbit correction vector ⁇ O; the orbit correction value is used for calculation
  • the satellite position correction vector ⁇ X is combined with the satellite position vector X broadcast calculated using the broadcast ephemeris.
  • the correction calculation formula is shown in formula (7):
  • X orbit is the satellite position corrected by the orbit correction message
  • ⁇ O is the orbit correction vector obtained from PPP-B2b information
  • the order is the orbit radial, tangential and normal components
  • the parameters included in the clock error correction message are correction parameters relative to the broadcast ephemeris clock error; the method of using the correction parameters is shown in formula (12):
  • t satellite is the satellite clock error corrected by the clock correction message
  • t broadcast is the satellite clock error parameter obtained by calculation of broadcast ephemeris
  • c is the speed of light
  • c 0 is the clock correction parameter obtained in the PPP-B2b message ;
  • Use formulas (7) to (12) to obtain the corrected precision satellite orbit and clock error Use the corrected precision satellite orbit and clock error to perform precise single-point positioning to solve the three-dimensional coordinates of the antenna and the tropospheric delay.
  • f is the frequency
  • s(f) is the power spectral density
  • m n is the n-order spectral moment
  • H m0 is the effective wave height obtained from the spectrum
  • T m is the average period. Since the general wave period is 0.1-30 seconds, use The high-pass filter eliminates low-frequency displacement data with frequencies below 0.01Hz; the sampling frequency of GNSS is above 2.5Hz.
  • Real-time precision single-point positioning is used to solve the three-dimensional coordinates of the GNSS antenna and invert the waves.
  • the zero-crossing method and spectral analysis method are used to extract the wave height and wave period parameters from the vertical displacement of the antenna; the waves are obtained from the vertical, east-west, and north-south displacements of the antenna.
  • the direction spectrum and frequency spectrum of the wave can be obtained, and then the element information such as wave height, period and wave direction can be obtained.
  • ( ⁇ x, ⁇ y, ⁇ z) is the geocentric geofixed coordinate increment of the GNSS antenna within the sliding time window
  • ⁇ t is the length of the time window
  • L and B are the average longitude and latitude of the GNSS antenna within the sliding time window respectively.
  • the geocentric and earth-fixed three-dimensional coordinates of the GNSS antenna are solved using the corrected precision satellite orbit and clock error for precision single-point positioning, and the sea surface flow velocity and direction are inverted, and the horizontal displacement of the GNSS antenna in the east-west and north-south directions within the sliding time window is used. and time interval to obtain the approximate average flow speed and direction of the sea surface.
  • the atmospheric water vapor content is calculated based on the zenith tropospheric delay estimated by precise single-point positioning.
  • the formula is shown in Equation (6):
  • ZTD is the zenith tropospheric delay estimated based on GNSS precision single-point positioning
  • P s is the air pressure (hPa) measured by the buoy or the numerical weather prediction model
  • H is the geodetic height of the GNSS antenna (km)
  • ⁇ w is the water density
  • R v 461.495J ⁇ (kg ⁇ K) -1
  • k′ 2 (17 ⁇ 10)K ⁇ hPa -1
  • k 3 (3.776 ⁇ 0.004)10 5 K 2 ⁇ hPa -1
  • T m is the air temperature measured by the buoy or the weighted average temperature calculated by the numerical weather prediction model.
  • the corrected precision satellite orbit and clock error are used to perform precise single-point positioning and solve the zenith tropospheric delay to calculate the atmospheric water vapor content.
  • PPP-B2b was used to correct the precise ephemeris obtained from the broadcast ephemeris, perform phase epoch difference, and solve for three-dimensional velocity and acceleration.
  • the corrected precision satellite orbit and clock error are used to perform phase epoch difference, and the solved three-dimensional velocity and acceleration of the GNSS antenna are used to calculate the attitude angle of the GNSS single antenna, including the azimuth angle, pitch angle and roll angle.
  • Equation (4) the equation for calculating the geodetic height of each epoch on the water surface is as shown in Equation (4):
  • Hwater Hantenna-sin(p)X buoy +cos(p)sin(r)Y buoy +cos(p)cos(r)Z buoy (4)
  • Hwater is the water level
  • Hantenna is the height of the GNSS antenna
  • p is the pitch angle
  • r is the roll angle
  • X buoy , Y buoy , and Z buoy are the lever arm vectors from the GNSS antenna to the water surface in the static draft buoy coordinate system.
  • GNSS includes Beidou, GPS, GLONASS, Galileo global navigation satellite system and QZSS, NAVIC regional navigation satellite system.
  • Free differential correction services include my country’s Beidou satellite’s precision single point positioning (PPP) service space signal PPP-B2b, and the EU’s Galileo satellite’s High-Accuracy Services Space Signal HAS (High-Accuracy Services), or Centimeter-Level Augmentation Service Space Signal CLAS (Centimeter-Level Augmentation Service) of Japan’s QZSS satellite.
  • PPP precision single point positioning
  • HAS High-Accuracy Services
  • CLAS Centimeter-Level Augmentation Service Space Signal CLAS (Centimeter-Level Augmentation Service) of Japan’s QZSS satellite.
  • a buoy based on the Beidou/GNSS real-time high-precision sea surface measurement method including a buoy carrier, a GNSS receiver or board, a GNSS antenna, a processor, a memory and a communication module.
  • the GNSS signal acquisition module is the receiver.
  • the processor of the buoy runs the built-in embedded GNSS data processing and sea surface element inversion software to obtain and process the GNSS signal acquisition module, broadcast ephemeris and Beidou satellite PPP-B2b signals in real time to obtain sea surface water level and wave height.
  • the sea surface measurement device can be a buoy, a ship, an unmanned ship sea surface carrier any of them.
  • this patent application only requires a GNSS buoy, a GNSS positioning module, and a GNSS direct signal antenna. No additional antennas are needed. There is no need to keep the GNSS antenna level, and there is no need to process GNSS reflected signals. Installing the attitude sensor does not require additional equipment. Through the GNSS positioning data processing method of the present invention, the real-time positioning accuracy of the buoy can be better than 0.1m.
  • real-time high-precision sea surface element information such as flow speed and direction, atmospheric water vapor content, etc.; these sea surface element information can be stored at the buoy location or transmitted back through communication.
  • the scope of ocean monitoring has been expanded, and it is universally applicable to real-time high-precision sea surface measurements in offshore and far-sea scenarios.
  • the present invention is not only applicable to PPP-B2b signals that are directly broadcast and used for free based on Beidou satellites, but also to GNSS satellite-based enhancement services, satellite station differential services, precision positioning services, etc. that may be free in the future.
  • Figure 1 is a schematic flow chart of a real-time high-precision sea surface measurement method based on GNSS of the present invention
  • Figure 2 is a schematic structural diagram of a buoy based on a real-time high-precision sea surface measurement method based on GNSS of the present invention.
  • Embodiment 1 is shown in Figure 2: a buoy equipped with dual-frequency or multi-frequency GNSS is used to collect Beidou satellite signals in real time and convert them into phase, pseudo-range observation values, broadcast ephemeris and precision single point positioning (PPP).
  • PPP precision single point positioning
  • ) serves the space signal PPP-B2b correction number and sends it to the buoy's processor; calculates in real time the corrected GNSS precision satellite orbit, clock error, pseudo-range deviation, etc.; performs precise single-point positioning calculations, taking into account atmospheric delay errors Process and solve the longitude, latitude, earth height, and tropospheric delay of each epoch of the GNSS single antenna in real time; return and repeat the steps (1) to (3) for 10-30 minutes to complete the initialization convergence of precise single-point positioning; solve The longitude, latitude, geodetic height, and tropospheric delay of the GNSS antenna in each epoch; use a sliding time window of 15-30 minutes, repeat the steps (1) to (3), and calculate based on the geodetic height of the GNSS antenna in each epoch.
  • Step 1 Collect GNSS observation data, broadcast ephemeris, and Beidou PPP-B2b signals.
  • Step 2 Use formula 7-12 to correct the broadcast ephemeris to obtain the precise ephemeris;
  • Step 3 Perform precise single-point positioning and solve for the three-dimensional coordinates of the antenna and the tropospheric delay.
  • Step 3 parallel relationship.
  • use formula 13-15 to calculate waves
  • use formula 5 to calculate ocean currents
  • use formula 6 to calculate atmospheric water vapor content
  • Step 4 Calculate the three attitude angles of the buoy based on the three-dimensional velocity and acceleration using formula 1-3
  • Step 5 Use formula 4 to calculate the geodetic height of each epoch of the water surface and calculate the water level.

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Abstract

一种使用GNSS卫星免费播发、免费使用的广播星历、我国北斗卫星的精密单点定位，以及其它的高精度服务空间信号，即可直接获得包括时间、经度、纬度、水位、波高、波周期、波向、海表流速和流向、大气水汽含量等实时、可达厘米级要素信息的一种基于北斗/GNSS的实时高精度海表测量方法及浮标；可以将这些信息存储在浮标本地或者通讯传回，适用于近海和远海场景的实时高精度海表测量；克服了现有测量方法需要额外购买精密差分改正和实时通讯的缺点，无需存储GNSS原始观测数据，无需通讯传输GNSS原始观测数据，大幅节省了存储、服务及通讯成本，扩大了基于GNSS的低成本的海表测量的工作范围，因此具有很高的实际应用价值。

Description

一种基于北斗/GNSS的实时高精度海表测量方法及浮标 技术领域
本发明涉及湖泊、河流、海洋等所有水体环境场景的环境监测和海洋导航定位领域，具体地讲是一种基于GNSS的海表水位、海浪、海流、大气水汽含量的实时高精度测量方法。
背景技术
海表水位、海浪、海流、大气水汽含量是海洋环境监测的重要参数，监测其变化并研究其规律，对人类海上活动及海洋与气候的减灾防灾具有重要意义。近几十年来，随着人类对海洋开发活动不断增加，大大促进了海表观测方法的研究和仪器设备的研制。目前，已经出现了多种海表测量仪器，例如大型水文气象浮标、加速度计测波仪、GNSS浮标验潮仪等。其中GNSS浮标利用了全球导航卫星系统(GNSS)获取浮标载体的三维空间位置和时间信息，而且具有良好的连续监测特性，可以通过位置信息来有效反演海表水位、海浪要素。GNSS浮标结合现有的GNSS技术，可以有效观测海表水位、海浪信息，具有系统简单、成本低、体积小等优点。例如自然资源部第一海洋研究所，申请号是202111084002.X的“一种基于表层漂流浮标的海流测量方法”，需要安装四个GNSS定位模块，而且需要额外安装姿态传感器，但是浮标的定位精度仅仅达到优于0.6m，因此实时定位精度低。中国海洋大学，申请号是202111454338.0的“用于测量二维海面高度的毯载GNSS浮标及测量方法”需要利用额外的浮毯搭载GNSS天线，浮毯固定于橡皮船上，橡皮船内搭载GNSS接收机，而且浮毯需要保持足够稳定才能保持其GNSS天线水平；为了降低浮毯的搭载重量，需要将控制系统和供电系统等安装在额外的充气船上，因此该专利申请需要多个额外 设备，该专利申请未说明GNSS定位数据处理方法，也未说明GNSS实时定位精度。
上述两项技术若要实现实时高精度定位，都要将浮标GNSS观测值全部传回数据处理中心进行实时解算，这需要大量的通讯带宽，从而产生了通讯成本，尤其是远海卫星通讯成本高，并且通讯降低了海洋监测的实时性；或者都要额外的实时精密差分改正服务，这极大增加了精密差分改正所需要的服务成本和通讯成本。
申请号是201510121794.1的“一种基于GNSS-R技术的河流流速测量方法与系统”中国科学院空间科学与应用研究中心申请的专利技术，需要利用GNSS直接信号天线和反射信号天线，对所接收的GNSS直接信号与反射信号做下变频与采样，并且处理GNSS反射信号获取残差相位输出值。
GNSS RTK(Real-Time Kinematic)实时载波相位差分技术和PPK(Post-Processing Kinematic)动态后处理差分技术均可得到厘米级精度的定位结果，但是这些方法都依赖于基站，有效作用距离限制在离岸几十公里以内的海域，无法应用于远海场景。
PPP(Precise Point Positioning)精密单点定位技术不受距离限制，不需要从一个或多个近距离基站获取数据，但是卫星轨道和钟差产品的精度是影响PPP定位精度的重要因素。高精度PPP依赖于高精度的GNSS卫星轨道、钟差等改正产品，实时高精度PPP方法需要额外的实时精密差分改正产品，极大增加了精密差分改正所需要的服务成本和通讯成本，降低了实时场景的应用性价比。
综上所述，现有的基于GNSS的海表测量主要有如下缺点：
(1)若要实现实时厘米级的海表测量精度，要将浮标GNSS观测值全部传回 数据处理中心进行实时解算，这需要大量的通讯带宽，从而产生了通讯成本，尤其是远海卫星通讯成本高，并且通讯降低了海洋监测的实时性；若将浮标GNSS观测在浮标本地进行实时解算，则需要额外的差分改正服务。其中，在近海需要与陆地通讯获得差分改正服务，在远海则需要从通讯卫星获得差分改正服务，因此增加了购买差分改正服务和通讯的成本。
(2)若要实现事后厘米级的海表测量精度，要将浮标GNSS观测数据传回数据处理中心进行事后解算，这需要大量的通讯带宽，从而产生了通讯成本，尤其是远海卫星通讯成本；若回收浮标后读取GNSS数据进行解算，一方面增加了回收操作的成本，自动化程度差，另一方面也增加了浮标存储大量GNSS数据的成本。
(3)若将浮标GNSS观测在浮标本地进行实时解算，则需要额外的差分改正服务。其中，在近海需要与陆地通讯获得差分改正服务，在远海则需要从通讯卫星获得差分改正服务，因此增加了购买差分改正服务和通讯的成本。
由以上分析不难了解，目前传统的GNSS海表测量方法在实时高精度测量方面存在极大劣势和限制。随着GNSS技术的不断发展，突破实时高精度海表测量方法的瓶颈，是提高海表业务化实时测量时效和海表要素参数反演精度的核心，可直接为全球海洋海表要素信息反演提供技术支持。目前尚未发现利用本专利申请的方法，综合测量海表水位、海浪、海流、大气水汽含量等多要素的技术。
发明内容
为克服上述技术中的缺陷，本发明提出了一种只需要搭载一个GNSS接收机(或板卡)，普遍适用于近海和远海场景，直接使用GNSS卫星免费播发、免费使用的广播星历，以及我国北斗卫星的精密单点定位(PPP)服务空间信号PPP-B2b，或者欧盟Galileo卫星的高精度服务空间信号HAS(High-Accuracy  Services)，或者日本QZSS卫星的厘米级增强服务空间信号CLAS(Centimeter-Level Augmentation Service)，无需购买额外的精密差分改正服务及其通讯，就可获得实时的厘米级至分米级精度的浮标位置，以及实时高精度的海表要素测量结果，包括时间、经度、纬度、水位、波高、波周期、波向、海表流速和流向、大气水汽含量等要素信息；最后，可将这些要素信息存储在浮标本地或者通讯传回，能够节省购买额外精密差分改正服务、通讯及存储成本的一种基于北斗/GNSS的实时高精度海表测量方法及浮标。
本发明目的是由以下技术方案实现的：
(1)采用搭载双频或多频GNSS的浮标，实时采集高频GNSS卫星定位电磁波信号以及北斗卫星的精密单点定位(PPP)服务空间信号PPP-B2b，将其转换成相位、伪距观测值、广播星历及其改正数，并发送至浮标的处理器；
(2)利用广播星历及其改正数，实时计算获得GNSS精密卫星轨道、钟差、伪距偏差，进行精密单点定位解算，顾及大气延迟误差的处理，实时求解GNSS单天线每个历元的经度、纬度、大地高、对流层延迟；
(3)返回重复(1)～(2)的步骤，持续10-30分钟，达到一定数据量，直至完成精密单点定位的初始化收敛；
(4)实时精密单点定位求解每个历元的GNSS天线的经度、纬度、大地高、对流层延迟；基于精密单点定位估计的天顶对流层延迟，求得大气水汽含量；利用计算的实时精密卫星轨道、钟差和相位历元差分观测方程求解GNSS天线的三维速度、加速度，然后利用GNSS单天线解算姿态角，包括方位角、俯仰角和横滚角，然后基于GNSS天线的大地高、姿态角、静态吃水GNSS天线到水面的杆臂矢量，计算水面各个历元的大地高，求得水位；
(5)采用15-30分钟的滑动时间窗口，重复(1)～(4)的步骤，基于 GNSS天线各个历元的大地高，求得波浪波高、周期要素信息，或者通过GNSS天线的垂向、东西、南北方向的位移，由互相关函数计算交叉谱，然后通过方向谱分析方法，求得海浪方向谱、频谱，进而求得波高、周期、波向；利用滑动时间窗口内GNSS天线的东西和南北方向的水平位移和时间间隔，求得海表近似平均流速、流向；
(6)将实时计算的这些滑动时间窗口时段的海表要素信息，存储在浮标本地，或者实时定期通讯传回。
本发明提出了在海洋测量中，直接使用GNSS卫星免费播发、免费使用的广播星历，通过浮标搭载的GNSS信号采集模块，采集GNSS相位、伪距观测值和GNSS广播星历，以及我国北斗卫星的精密单点定位(PPP)服务空间信号PPP-B2b，或者欧盟Galileo卫星的高精度服务空间信号HAS(High-Accuracy Services)，或者日本QZSS卫星的厘米级增强服务空间信号CLAS(Centimeter-Level Augmentation Service)；本发明包括利用GNSS广播星历和北斗卫星的精密单点定位(PPP)服务空间信号PPP-B2b，计算GNSS实时精密卫星轨道、钟差、伪距偏差等；利用计算的实时精密卫星轨道、钟差，进行实时精密单点定位求解浮标每个历元GNSS天线的经度、纬度、大地高、天顶对流层延迟；基于GNSS天线的垂向位移随时间变化信息，求得波浪波高、周期要素信息，或者通过GNSS天线的垂向、东西和南北方向的位移，由互相关函数计算交叉谱，然后通过方向谱分析方法，求得海浪方向谱、频谱，进而求得波高、周期和波向；利用滑动时间窗口内GNSS天线的东西、南北方向的水平位移和时间间隔，求得海表近似平均流速、流向；基于精密单点定位求解的天顶对流层延迟，求得大气水汽含量；利用计算的实时精密卫星轨道、钟差和相位历元差分观测方程，求解GNSS天线的三维速度，基于该三维速度解算GNSS单天线的姿态角，包括方位角、俯 仰角和横滚角，然后基于GNSS天线的大地高、姿态角、静态吃水GNSS天线到水面的杆臂矢量，计算水面各个历元的大地高，求得水位。
本发明也可以使用未来可能免费的GNSS星基增强服务、星站差分服务、精密定位服务等，获得实时高精度厘米级的海表测量结果，实时的厘米级至分米级精度的浮标位置。
利用北斗PPP-B2b信号获取改正广播星历，改正GNSS广播星历的卫星轨道和钟差信息包括的参数为轨道改正向量δO在径向、切向和法向的分量；轨道改正值用于计算卫星位置改正向量δX，联合利用广播星历计算出的卫星位置向量X broadcast，改正的计算公式见公式(7)：
X orbitX broadcast-δX         (7)
式中，X orbit为由轨道改正电文改正得到的卫星位置，X broadcast为广播星历计算得到的卫星位置，其IOD与轨道改正电文的IODN匹配，δX为卫星位置改正；
卫星位置改正δX的计算方法见公式(8)至公式(11)：
Figure PCTCN2022106279-appb-000001
Figure PCTCN2022106279-appb-000002
e along＝e cross×e radial            (10)
δX＝[e radial e along e cross]·δO    (11)
式中，r＝X broadcast为广播星历卫星位置矢量，
Figure PCTCN2022106279-appb-000003
为广播星历卫星速度 矢量，δO为PPP-B2b信息中获得的轨道改正矢量，顺序为轨道径向、切向和法向分量；
钟差改正电文包括的参数是相对于广播星历钟差的改正参数；该改正参数的使用方法见公式(12)：
Figure PCTCN2022106279-appb-000004
式中，t satellite为经过钟差改正电文改正得到的卫星钟差，t broadcast为广播星历计算得到的卫星钟差参数，c为光速，c 0为PPP-B2b电文中获得的钟差改正参数；
利用公式(7)～(12)获取改正后的精密卫星轨道、钟差，利用改正后的精密卫星轨道、钟差，进行精密单点定位求解天线三维坐标和对流层延迟。
基于实时精密单点定位获取的GNSS天线垂直位移获取波高与周期，采用谱分析方法，由位移时间序列得到波浪参数，计算公式见(13)～(15)：
Figure PCTCN2022106279-appb-000005
Figure PCTCN2022106279-appb-000006
T m＝m 0/m 1                    (15)
其中，f为频率，s(f)为功率谱密度，m n为n阶谱矩，H m0为由频谱得到的有效波高，T m为平均周期，由于一般波浪周期为0.1-30秒，采用高通滤波器消除低于0.01Hz频率的低频位移数据；GNSS的采样频率是2.5Hz以上。
实时精密单点定位求解GNSS天线三维坐标，反演海浪，采用跨零法、谱分析方法从天线垂直位移中提取波高及波浪周期参数；由天线垂向、东西方向及 南北方向的位移求得波浪的方向谱、频谱，进而求得波浪波高、周期及波向等要素信息。
海表近似平均流速、流向，公式如式(5)所示：
Figure PCTCN2022106279-appb-000007
式中，(Δx，Δy，Δz)为滑动时间窗口内GNSS天线的地心地固系坐标增量，Δt为时间窗口长度，L，B分别为滑动时间窗口内GNSS天线的平均经度、纬度。
利用改正后的精密卫星轨道、钟差进行精密单点定位求解的GNSS天线的地心地固系三维坐标，反演海表流速和流向，利用滑动时间窗口内GNSS天线的东西和南北方向的水平位移和时间间隔，求得海表近似平均流速、流向。
大气水汽含量，是基于精密单点定位估计的天顶对流层延迟计算的，公式如式(6)所示：
Figure PCTCN2022106279-appb-000008
式中，ZTD为基于GNSS精密单点定位估计的天顶对流层延迟，P s为浮标实测的或者数值天气预报模型的气压(hPa)，
Figure PCTCN2022106279-appb-000009
为浮标纬度，H为GNSS天线的大地高(km)，ρ w为水密度，R v＝461.495J·(kg·K) -1，k′ 2＝(17±10)K·hPa -1，k 3＝(3.776±0.004)10 5K 2·hPa -1，T m为由浮标实测的气温或者数值天气预报模型计算的加权平均温度。
利用改正后的精密卫星轨道、钟差进行精密单点定位求解的天顶对流层延迟，计算大气水汽含量。
利用PPP-B2b改正了广播星历获取的精密星历，进行相位历元差分，求解三维速度、加速度。
利用GNSS天线的三维速度、加速度，解算GNSS单天线的三个姿态角，包括方位角、俯仰角和横滚角的方程如式(1)(2)(3)所示：
Figure PCTCN2022106279-appb-000010
Figure PCTCN2022106279-appb-000011
r＝arcsin[(1·p)/(|1|·|p|)]           (3)
式中，v U、v E、v N分别为浮标的垂直、东西、南北3个方向上的速度分量；向量1＝a n-g n，向量p＝g×v，a n、g n分别是浮标加速度和重力加速度沿浮标速度的法线方向的分量。
利用改正后的精密卫星轨道、钟差，进行相位历元差分，利用求解的GNSS天线三维速度、加速度，解算GNSS单天线的姿态角，包括方位角、俯仰角和横滚角。
基于上述求解的GNSS天线的大地高、姿态角、以及该型号浮标静态吃水GNSS天线到水面的杆臂矢量，计算水面各个历元的大地高的方程如式(4)所示：
Hwater＝Hantenna-sin(p)X buoy+cos(p)sin(r)Y buoy+cos(p)cos(r)Z buoy   (4)
式中，Hwater为水位，Hantenna为GNSS天线大地高，p为俯仰角，r为横滚角，X buoy、Y buoy、Z buoy为静态吃水浮标坐标系下GNSS天线到水面的杆臂矢量。
GNSS包括北斗、GPS、GLONASS、Galileo全球导航卫星系统和QZSS、NAVIC区域导航卫星系统，免费的差分改正服务包括我国北斗卫星的精密单点定位(PPP)服务空间信号PPP-B2b、欧盟Galileo卫星的高精度服务空间信号HAS(High-Accuracy Services)，或者日本QZSS卫星的厘米级增强服务空间信号CLAS(Centimeter-Level Augmentation Service)。
一种基于北斗/GNSS的实时高精度海表测量方法的浮标，包括浮标载体、GNSS接收机或板卡、搭载GNSS天线、处理器、存储器和通讯模块，其中，GNSS信号采集模块，即接收机/板卡和天线，将GNSS卫星向水面发射的定位电磁波信号，转换成相位、伪距观测值、广播星历和北斗卫星的精密单点定位(PPP)服务空间信号PPP-B2b，经串口发送至浮标的处理器、处理器运行内置的嵌入式GNSS数据处理与海表要素反演软件，实时获取并处理GNSS信号采集模块、广播星历和北斗卫星PPP-B2b信号，得到海表水位、波高、周期及波向、海表流速和流向、大气水汽含量，并将这些要素信息存储至存储器，或者将这些要素信息发送给通讯模块；海表测量装置可以是浮标、船只、无人船海面载体中的任何一种。
本申请的优点是：本专利申请只需要一个GNSS浮标，安装一个GNSS定位模块，一个GNSS直接信号天线，不需要额外的天线，不需要保持GNSS天线水平，也不需要处理GNSS反射信号，不需要安装姿态传感器，不需要额外的设备，通过本发明的GNSS定位数据处理方法，使得浮标的实时定位精度能够达到优于0.1m。
只需要搭载一个低成本双频GNSS板卡，可以基于GNSS观测值、广播星历和北斗PPP-B2b信号得到实时的至少分米级精度的浮标位置；直接基于GNSS卫星免费播发、免费使用的广播星历和北斗卫星免费播发、免费使用的PPP-B2b信号，即可直接获得实时高精度的厘米级海表测量结果，包括时间、经度、纬度、水位、波高、波周期、波向、海表流速和流向、大气水汽含量等实时高精度海表的多个要素信息；可以将这些海表要素信息存储在浮标本地或者通讯传回，无需存储GNSS原始观测数据，无需通讯传输GNSS原始观测数据，扩大了海洋监测范围，普适用于近海和远海场景的实时高精度海表测量；由于无需额 外购买精密差分改正及其实时通讯服务，克服了现有GNSS海表测量方法需要额外购买精密差分改正和实时通讯的高成本缺点，由于大幅节省了存储成本、服务及通讯成本，因此扩大了基于GNSS的低成本的海表测量的工作范围；同时该方法的浮标可以得到实时高精度海表测量结果，因此也具有很高的实际应用价值。
同时本发明不仅适用于直接基于北斗卫星免费播发、免费使用的PPP-B2b信号，也适用于未来可能免费的GNSS星基增强服务、星站差分服务、精密定位服务等。
附图说明
图1为本发明的一种基于GNSS的实时高精度海表测量方法的流程示意图；
图2为本发明的一种基于GNSS的实时高精度海表测量方法的浮标的结构示意图。
具体实施方式
实施例1如附图2所示：采用搭载双频或多频GNSS的浮标，实时采集北斗卫星的信号，将其转换成相位、伪距观测值、广播星历及其精密单点定位(PPP)服务空间信号PPP-B2b改正数，并发送至浮标的处理器；实时计算获得改正后的GNSS精密卫星轨道、钟差、伪距偏差等；进行精密单点定位解算，顾及大气延迟误差的处理，实时求解GNSS单天线每个历元的经度、纬度、大地高、对流层延迟；返回重复(1)～(3)的步骤，持续10-30分钟，完成精密单点定位的初始化收敛；求解每个历元的GNSS天线的经度、纬度、大地高、对流层延迟；采用15-30分钟的滑动时间窗口，重复(1)～(3)的步骤，基于GNSS天线各个历元的大地高，求得波浪波高、周期要素信息，或者通过GNSS天线的垂向、东西、南北方向的位移，由互相关函数计算交叉谱，和方向谱分析方法，求得 海浪方向谱、频谱，进而求得波高、周期、波向；利用滑动时间窗口内GNSS天线的东西和南北方向的水平位移和时间间隔，求得海表近似平均流速、流向；基于精密单点定位估计的天顶对流层延迟，求得大气水汽含量；利用计算的实时精密卫星轨道、钟差和相位历元差分观测方程求解GNSS天线的三维速度、加速度，然后利用GNSS单天线解算姿态角，包括方位角、俯仰角和横滚角；基于GNSS天线的大地高、姿态角、静态吃水GNSS天线到水面的杆臂矢量，计算水面各个历元的大地高，求得水位；将实时计算的这些滑动时间窗口时段的海表要素信息，存储在浮标本地，或者实时定期通讯传回。工作或计算过程，如图1所示：
第1步，采集GNSS观测数据、广播星历、北斗PPP-B2b信号。
第2步，利用公式7-12，改正广播星历得到精密星历；
第3步，进行精密单点定位，求解天线三维坐标、对流层延迟。
第3步，并列关系。基于求解的天线三维坐标利用公式13-15计算波浪；基于求解的天线三维坐标利用公式5计算海流；基于求解的对流层延迟利用公式6计算大气水汽含量；利用改正广播星历得到的精密星历、相位历元差分，求解三维速度、加速度。
第4步，基于三维速度、加速度利用公式1-3计算浮标三个姿态角
第5步，利用公式4计算水面各个历元的大地高，计算水位
实施例2
采用另一种GNSS系统，例如Galileo，流程都是完全一样的，只是把北斗替换成Galileo、把北斗卫星精密单点定位(PPP)服务空间信号PPP-B2b替换成Galileo卫星高精度服务空间信号HAS(High-Accuracy Services)，具体步骤同实施例1。

Claims (10)

  1. 一种基于北斗/GNSS的实时高精度海表测量方法，其步骤如下：
    (1)采用搭载双频或多频GNSS的浮标，实时采集高频GNSS卫星定位电磁波信号以及北斗卫星的精密单点定位(PPP)服务空间信号PPP-B2b，将其转换成相位、伪距观测值、广播星历及其改正数，并发送至浮标的处理器；
    (2)利用广播星历及其改正数，实时计算获得GNSS精密卫星轨道、钟差、伪距偏差，进行精密单点定位解算，顾及大气延迟误差的处理，实时求解GNSS单天线每个历元的经度、纬度、大地高、对流层延迟；
    (3)返回重复(1)～(2)的步骤，持续10-30分钟，达到一定数据量，直至完成精密单点定位的初始化收敛；
    (4)实时精密单点定位求解每个历元的GNSS天线的经度、纬度、大地高、对流层延迟；基于精密单点定位估计的天顶对流层延迟，求得大气水汽含量；利用计算的实时精密卫星轨道、钟差和相位历元差分观测方程求解GNSS天线的三维速度、加速度，然后利用GNSS单天线解算姿态角，包括方位角、俯仰角和横滚角，然后基于GNSS天线的大地高、姿态角、静态吃水GNSS天线到水面的杆臂矢量，计算水面各个历元的大地高，求得水位；
    (5)采用15-30分钟的滑动时间窗口，重复(1)～(4)的步骤，基于GNSS天线各个历元的大地高，求得波浪波高、周期要素信息，或者通过GNSS天线的垂向、东西、南北方向的位移，由互相关函数计算交叉谱，然后通过方向谱分析方法，求得海浪方向谱、频谱，进而求得波高、周期、波向；利用滑动时间窗口内GNSS天线的东西和南北方向的水平位移和时间间隔，求得海表近似平均流速、流向；
    (6)将实时计算的这些滑动时间窗口时段的海表要素信息，存储在浮标本地，或者实时定期通讯传回。
  2. 根据权利要求1所述的一种基于北斗/GNSS的实时高精度海表测量方法，其特征在于利用北斗PPP-B2b信号获取改正广播星历，改正GNSS广播星历的卫星轨道和钟差信息包括的参数为轨道改正向量δO在径向、切向和法向的分量； 轨道改正值用于计算卫星位置改正向量δX，联合利用广播星历计算出的卫星位置向量X broadcast，改正的计算公式见公式(7)：
    X orbit＝X broadcast-δX  (7)
    式中，X orbit为由轨道改正电文改正得到的卫星位置，X broadcast为广播星历计算得到的卫星位置，其IOD与轨道改正电文的IODN匹配，δX为卫星位置改正；
    卫星位置改正δX的计算方法见公式(8)至公式(11)：
    Figure PCTCN2022106279-appb-100001
    Figure PCTCN2022106279-appb-100002
    e along＝e cross×e radial  (10)
    δX＝[e radial e along e cross]·δO  (11)
    式中，r＝X broadcast为广播星历卫星位置矢量，
    Figure PCTCN2022106279-appb-100003
    为广播星历卫星速度矢量，δO为PPP-B2b信息中获得的轨道改正矢量，顺序为轨道径向、切向和法向分量；
    钟差改正电文包括的参数是相对于广播星历钟差的改正参数；该改正参数的使用方法见公式(12)：
    Figure PCTCN2022106279-appb-100004
    式中，t satellite为经过钟差改正电文改正得到的卫星钟差，t broadcast为广播星历计算得到的卫星钟差参数，c为光速，c 0为PPP-B2b电文中获得的钟差改正参数；
    利用公式(7)～(12)获取改正后的精密卫星轨道、钟差，利用改正后的精密卫星轨道、钟差，进行精密单点定位求解天线三维坐标和对流层延迟。
  3. 根据权利要求1或2所述的一种基于北斗/GNSS的实时高精度海表测量方法，其特征在于基于实时获取的GNSS天线垂直位移获取波高与周期，采用谱分析方法，由位移时间序列得到波浪参数，计算公式见(13)～(15)：
    Figure PCTCN2022106279-appb-100005
    Figure PCTCN2022106279-appb-100006
    T m＝m 0/m 1  (15)
    式中，f为频率，s(f)为功率谱密度，m n为n阶谱矩，H m0为由频谱得到的有效波高，T m为平均周期，由于一般波浪周期为0.1-30秒，采用高通滤波器消除低于0.01Hz频率的低频位移数据；GNSS的采样频率是2.5Hz以上。
  4. 根据权利要求1或2所述的一种基于北斗/GNSS的实时高精度海表测量方法，其特征在于海表近似平均流速、流向，公式如式(5)所示：
    Figure PCTCN2022106279-appb-100007
    式中，(Δx，Δy，Δz)为滑动时间窗口内GNSS天线的地心地固系坐标增量，Δt为时间窗口长度，L，B分别为滑动时间窗口内GNSS天线的平均经度、纬度。
  5. 根据权利要求1或2所述的一种基于北斗/GNSS的实时高精度海表测量方法，其特征在于大气水汽含量，是基于精密单点定位估计的天顶对流层延迟 计算的，公式如式(6)所示：
    Figure PCTCN2022106279-appb-100008
    式中，ZTD为基于GNSS精密单点定位估计的天顶对流层延迟，P s为浮标实测的或者数值天气预报模型的气压(hPa)，
    Figure PCTCN2022106279-appb-100009
    为浮标纬度，H为GNSS天线的大地高(km)，ρ w为水密度，R v＝461.495J·(kg·K) -1，k′ 2＝(17±10)K·hPa -1，k 3＝(3.776±0.004)10 5K 2·hPa -1，T m为由浮标实测的气温或者数值天气预报模型计算的加权平均温度。
  6. 根据权利要求1或2所述的一种基于北斗/GNSS的实时高精度海表测量方法，其特征在于利用北斗PPP-B2b改正了广播星历获取的精密星历，进行相位历元差分，求解三维速度、加速度。
  7. 根据权利要求6所述的一种基于北斗/GNSS的实时高精度海表测量方法，其特征在于利用GNSS天线的三维速度、加速度，解算GNSS单天线的三个姿态角，包括方位角、俯仰角和横滚角的方程如式(1)(2)(3)所示：
    Figure PCTCN2022106279-appb-100010
    Figure PCTCN2022106279-appb-100011
    r＝arcsin[(l·p)/(|l|·|p|)]  (3)
    式中，v U、v E、v N分别为浮标的垂直、东西、南北3个方向上的速度分量；向量l＝a n-g n，向量p＝g×v，a n、g n分别是浮标加速度和重力加速度沿浮标速度的法线方向的分量。
  8. 根据权利要求7所述的一种基于北斗/GNSS的实时高精度海表测量方法，其特征在于基于GNSS天线的大地高、姿态角、静态吃水GNSS天线到水面的杆 臂矢量，计算水面各个历元的大地高的方程如式(4)所示：
    Hwater＝Hantenna-sin(p)X buoy+cos(p)sin(r)Y buoy+cos(p)cos(r)Z buoy  (4)
    式中，Hwater为水位，Hantenna为GNSS天线大地高，p为俯仰角，r为横滚角，X buoy、Y buoy、Z buoy为静态吃水浮标坐标系下GNSS天线到水面的杆臂矢量。
  9. 根据权利要求1所述的一种基于北斗/GNSS的实时高精度海表测量方法，其特征在于GNSS包括北斗、GPS、GLONASS、Galileo全球导航卫星系统和QZSS、NAVIC区域导航卫星系统，免费的差分改正服务包括我国北斗卫星的精密单点定位(PPP)服务空间信号PPP-B2b、欧盟Galileo卫星的高精度服务空间信号HAS(High-Accuracy Services)，或者日本QZSS卫星的厘米级增强服务空间信号CLAS(Centimeter-Level Augmentation Service)。
  10. 一种基于北斗/GNSS的实时高精度海表测量方法的浮标，其特征在于包括浮标载体、GNSS接收机或板卡、搭载GNSS天线、处理器、存储器和通讯模块，其中，GNSS信号采集模块，即接收机/板卡和天线，将GNSS卫星向水面发射的定位电磁波信号，转换成相位、伪距观测值、广播星历和北斗卫星的精密单点定位(PPP)服务空间信号PPP-B2b，经串口发送至浮标的处理器、处理器运行内置的嵌入式GNSS数据处理与海表要素反演软件，实时获取并处理GNSS信号采集模块、广播星历和北斗卫星PPP-B2b信号，得到海表水位、波高、周期及波向、海表流速和流向、大气水汽含量，并将这些要素信息存储至存储器，或者将这些要素信息发送给通讯模块；海表测量装置可以是浮标、船只、无人船海面载体中的任何一种。
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