GNSS卫星钟差估计与结果分析
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摘要
探讨了GNSS卫星钟差估计的基本原理、处理方法及数据处理中的一些关键技术,利用全球56个IGS跟踪站的观测数据进行钟差估计,比较分析了钟差产品的精度与定位性能。以GPS系统解算结果为例,其钟差产品与IGS最终精密卫星钟差符合较好,精度优于0.04ns(约0.012m),多系统钟差解算结果互差优于亚纳秒级。基于钟差产品进行精密单点定位解算试验,试验结果表明,在定位收敛之后,静态PPP在东、北、天3个方向上精度为0.0582m、0.0466m、0.1188m;动态PPP在东、北、天3个方向上精度为0.0671m、0.0640m、0.3200m。定位结果与IGS最终精密钟差解算结果符合较好,表明两者之间差异较小,进一步验证了解算得到的卫星钟差产品的定位性能。
The basic principle, processing method and some key techniques in GNSS satellite clock error estimation were discussed. The observation data of 56 IGS tracking stations around the world were used to estimate the satellite clock error, the accuracy and positioning performance of the clock products were compared and analyzed. Taking the GPS system solution as an example, the clock product was in good agreement with the final precision satellite clock of IGS, and the accuracy was better than 0.04 ns(about 0.012 m), mutual differences of multi-system clock error results were better than sub-ns. Based on the satellite clock product, the precise point positioning solution test was carried out. The test results showed that after the positioning convergence, the accuracies of static PPP in the three directions of E, N and U were: 0.0582 m, 0.0466 m, and 0.1188 m; the accuracies of kinematic PPP in the three directions of E, N and U were: 0.0671 m, 0.0640 m, and 0.3200 m. The positioning results were in good agreement with the final precision clock error calculation results of IGS, indicating that the difference between them was small, which further verified the positioning performance of the calculated satellite clock products.
The basic principle, processing method and some key techniques in GNSS satellite clock error estimation were discussed. The observation data of 56 IGS tracking stations around the world were used to estimate the satellite clock error, the accuracy and positioning performance of the clock products were compared and analyzed. Taking the GPS system solution as an example, the clock product was in good agreement with the final precision satellite clock of IGS, and the accuracy was better than 0.04 ns(about 0.012 m), mutual differences of multi-system clock error results were better than sub-ns. Based on the satellite clock product, the precise point positioning solution test was carried out. The test results showed that after the positioning convergence, the accuracies of static PPP in the three directions of E, N and U were: 0.0582 m, 0.0466 m, and 0.1188 m; the accuracies of kinematic PPP in the three directions of E, N and U were: 0.0671 m, 0.0640 m, and 0.3200 m. The positioning results were in good agreement with the final precision clock error calculation results of IGS, indicating that the difference between them was small, which further verified the positioning performance of the calculated satellite clock products.
引文
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[16] Zhao Q,Wang C,Guo J,et al.Precise orbit and clock determination for BeiDou-3 experimental satellites with yaw attitude analysis[J].GPS Solutions,2018,22(1):4.
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[18] 陈良,耿长江,周泉.北斗/GPS实时精密卫星钟差融合解算模型及精度分析[J].测绘学报,2016,45(9):1028-1034.Chen Liang,Geng Changjiang,Zhou Quan.Estimation model and accuracy of BeiDou/GPS real-time precise satellite clock error integrated sesolving[J].Acta Geodaetica et Cartographica,2016,45(9):1028-1034(in Chinese).
[19] 万军,党亚民,成英燕,等.多系统卫星钟差估算与分析[C]// 卫星导航定位与北斗系统应用,2015.Wan Jun,Dang Yamin,Cheng Yingyan,et al.Multi-system satellite clock error estimation and analysis[C]// Satellite Navigation and Beidou System Application,2015(in Chinese).
[20] 李浩军,王解先,王虎,等.基于GNSS网络的卫星精密钟差估计及结果分析[J].武汉大学学报(信息科学版),2010,35(8):1001-1003.Li Haojun,Wang Jiexian,Wang Hu,et al.Precise clock error estimation of GPS satellite and analysis based on GNSS network[J].Geomatics and Information Science of Wuhan University,2010,35(8):1001-1003(inChinese).
[21] Li H,Li B,Lou L,et al.Impact of GPS differential code bias in dual-and triple-frequency positioning and satellite clock estimation[J].GPS Solutions,2017,21(3):897-903.
[22] 于合理,郝金明,田英国,等.GNSS单站授时系统性偏差分析[J].大地测量与地球动力学,2017,37(1):30-34.Yu Heli,Hao Jinming,Tian Yingguo,et al.Analysis of systematic bias of single station time service[J].Journal of Geodesy and Geodynamics,2017,37(1):30-34(in Chinese).
[23] 楼益栋.GPS精密卫星钟差估计与分析[J].武汉大学学报:信息科学版,2009,34(1):88-91.Lou Yidong.Realization and analysis of GPS precise satellite clock products[J].Geomatics and Information Science of Wuhan University,2009,34(1):88-91(in Chinese).
[24] 张小红.BDS/GPS精密单点定位收敛时间与定位精度的比较[J].测绘学报,2015,44(3):250-256.Zhang Xiaohong.Convergence time and positioning accuracy comparison between BDS and GPS precise point positioning[J].Acta Geodaetica et Cartographica,2015,44(3):250-256(in Chinese).
[2] Li H,Chen J,Wang J,et al.Network based real-time precise point positioning[J].Advances in Space Research,2010,46(9):1218-1224.
[3] 李浩军,王解先,陈俊平,等.基于GNSS网络的实时精密单点定位及精度分析[J].地球物理学报,2010,53(6):1302-1307.Li Haojun,Wang Jiexian,Chen Junping,et al.The realization and analysis of GNSS network based real-time precise point positioning[J].Chinese Journal of Geophysics,2010,53(6):1302-1307(in Chinese).
[4] 夏凤雨,叶世榕,赵乐文,等.基于SSR改正的实时精密单点定位精度分析[J].导航定位与授时,2017,4(3):52-57.Xia Fengyu,Ye Shirong,Zhao Lewen,et al.Analysis of real-time precision point positioning based on SSR corrections[J].Navigation Positioning and Timing,2017,4(3):52-57(in Chinese).
[5] IGS Product Availability[EB/OL].http://www.igs.org/products.2018.
[6] 屈利忠,杜明义,王坚,等.多模GNSS精密卫星钟差估计与分析[J].武汉大学学报(信息科学版),2018,43(1):107-111.Qu Lizhong,Du Mingyi,Wang Jian,et al.Multi- GNSS satellites clock estimation and analysis[J].Geomatics and Information Science of Wuhan University,2018,43(1):107-111(in Chinese).
[7] Ye S,Zhao L,Jia S,et al.Analysis of estimated satellite clock biases and their effects on precise point positioning[J].GPS Solutions,2018,22(1):16.
[8] 赵齐乐,戴志强,王广兴,等.利用非差观测量估计北斗卫星实时精密钟差[J].武汉大学学报(信息科学版),2016,41(5):686-691.Zhao Qile,Dai Zhiqiang,Wang Guangxing,et al.Real-time precise BDS clock estimation with the undifferenced observation[J].Geomatics and Information Science of Wuhan University,2016,41(5):686-691(in Chinese)
[9] 蔡华,赵齐乐,楼益栋.精密卫星钟差确定系统的实现与精度分析[J].武汉大学学报(信息科学版),2009,34(11):1293-1296.Cai Hua,Zhao Qile,Lou Yidong.Implementation and precision analysis of GPS precise clock estimation system[J].Geomatics and Information Science of Wuhan University,2009,34(11):1293-1296(in Chinese).
[10] 李平力,黄观文,崔博斌,等.基于非差模型的GPS卫星实时钟差估计精度分析[J].导航定位与授时,2018,5(1):68-73.Li Pingli,Huang Guanwen,Cui Bobin,et al.Accuracy analysis of real-time GPS satellite clock estima-tion based on un-differenced model[J].Navigation Positioning and Timing,2018,5(1):68-73(in Chinese).
[11] 何明宪,李星星,李盼,等.基于非差与历元差分两种观测模型估计精密卫星钟差的方法比较[J].大地测量与地球动力学,2011,31(1):95-99.He Mingxian,Li Xingxing,Li Pan,et al.Compari-son and analysis of estimations of precise satellite clock error based on non-difference model and epoch differential model[J].Journal of Geodesy and Geodynamics,2011,31(1):95-99(in Chinese).
[12] Ge M,Chen J,Dou?a J,et al.A computationally efficient approach for estimating high-rate satellite clock corrections in realtime[J].GPS Solutions,2012,16(1):9-17.
[13] 李星星,徐运,王磊.非差导航卫星实时/事后精密钟差估计[J].武汉大学学报(信息科学版),2010,35(6):661-664.Li Xingxing,Xu Yun,Wang Lei.Undifferenced precise satellite clock error estimation andprecision analysis[J].Geomatics and Information Science of Wuhan University,2010,35(6):661-664(in Chinese).
[14] Hauschild A,Montenbruck O,Steigenberger P.Short-term analysis of GNSS clocks[J].GPS Solutions,2013,17(3):295-307.
[15] Pan L,Zhang X,Li X,et al.Characteristics of inter-frequency clock bias for Block IIF satellites and its effect on triple-frequency GPS precise point positioning[J].GPS Solutions,2017,21(2):811-822.
[16] Zhao Q,Wang C,Guo J,et al.Precise orbit and clock determination for BeiDou-3 experimental satellites with yaw attitude analysis[J].GPS Solutions,2018,22(1):4.
[17] Wang B,Lou Y,Liu J,et al.Analysis of BDS satellite clocks in orbit[J].GPS Solutions,2016,20(4):783-794.
[18] 陈良,耿长江,周泉.北斗/GPS实时精密卫星钟差融合解算模型及精度分析[J].测绘学报,2016,45(9):1028-1034.Chen Liang,Geng Changjiang,Zhou Quan.Estimation model and accuracy of BeiDou/GPS real-time precise satellite clock error integrated sesolving[J].Acta Geodaetica et Cartographica,2016,45(9):1028-1034(in Chinese).
[19] 万军,党亚民,成英燕,等.多系统卫星钟差估算与分析[C]// 卫星导航定位与北斗系统应用,2015.Wan Jun,Dang Yamin,Cheng Yingyan,et al.Multi-system satellite clock error estimation and analysis[C]// Satellite Navigation and Beidou System Application,2015(in Chinese).
[20] 李浩军,王解先,王虎,等.基于GNSS网络的卫星精密钟差估计及结果分析[J].武汉大学学报(信息科学版),2010,35(8):1001-1003.Li Haojun,Wang Jiexian,Wang Hu,et al.Precise clock error estimation of GPS satellite and analysis based on GNSS network[J].Geomatics and Information Science of Wuhan University,2010,35(8):1001-1003(inChinese).
[21] Li H,Li B,Lou L,et al.Impact of GPS differential code bias in dual-and triple-frequency positioning and satellite clock estimation[J].GPS Solutions,2017,21(3):897-903.
[22] 于合理,郝金明,田英国,等.GNSS单站授时系统性偏差分析[J].大地测量与地球动力学,2017,37(1):30-34.Yu Heli,Hao Jinming,Tian Yingguo,et al.Analysis of systematic bias of single station time service[J].Journal of Geodesy and Geodynamics,2017,37(1):30-34(in Chinese).
[23] 楼益栋.GPS精密卫星钟差估计与分析[J].武汉大学学报:信息科学版,2009,34(1):88-91.Lou Yidong.Realization and analysis of GPS precise satellite clock products[J].Geomatics and Information Science of Wuhan University,2009,34(1):88-91(in Chinese).
[24] 张小红.BDS/GPS精密单点定位收敛时间与定位精度的比较[J].测绘学报,2015,44(3):250-256.Zhang Xiaohong.Convergence time and positioning accuracy comparison between BDS and GPS precise point positioning[J].Acta Geodaetica et Cartographica,2015,44(3):250-256(in Chinese).