一种卫星钟差异常精确探测的两步法策略
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摘要
针对卫星钟差数据中的粗差和钟跳两类异常进行精确探测,提出使用历元单差算法和拟准检定法相结合的两步法策略,第1步,依据钟跳和粗差在历元单差序列中不同表现特点,采用历元单差法探测疑似钟跳点并剔除部分粗差;第2步,对按疑似钟跳分段的数据使用拟准检定法精确探测粗差。通过模拟数据算例阐述钟差异常探测过程并进行性能分析,通过实测数据进行算法有效性验证,结果表明,仅使用历元单差法能有效探测疑似钟跳点和部分粗差,其探测的疑似钟跳点包含了真实钟跳;使用两步法既能有效规避钟跳影响,又能精确探测小粗差,探测能力接近底噪的2倍中误差。
To detect clock jump and gross error in data of satellite clock, a two-step method for error detection of satellite clock data is proposed by combining the single difference algorithm of epochs and quasi-accurate cetection method(QUAD). In the first step, a single difference algorithm of epochs is used to detect suspected clock jump and eliminate the gross error points according to the different performance characteristic of clock jump and gross error in the sequence of single difference of epochs; and in the second step, QUAD is used to detect gross error precisely for the data by segment according to the suspected clock jump. The detecting process is set forth and the performance is analyzed by using simulating data, and the algorithm is verified by practical data, both examples show that using only single difference algorithm of epochs can effectively detect suspected clock jump points and partial error, while using the two-step method can effectively avoid clock jump influence, and can accurately detect small gross errors, which is close to two times the background noise's standard deviation.
To detect clock jump and gross error in data of satellite clock, a two-step method for error detection of satellite clock data is proposed by combining the single difference algorithm of epochs and quasi-accurate cetection method(QUAD). In the first step, a single difference algorithm of epochs is used to detect suspected clock jump and eliminate the gross error points according to the different performance characteristic of clock jump and gross error in the sequence of single difference of epochs; and in the second step, QUAD is used to detect gross error precisely for the data by segment according to the suspected clock jump. The detecting process is set forth and the performance is analyzed by using simulating data, and the algorithm is verified by practical data, both examples show that using only single difference algorithm of epochs can effectively detect suspected clock jump points and partial error, while using the two-step method can effectively avoid clock jump influence, and can accurately detect small gross errors, which is close to two times the background noise's standard deviation.
引文
[1] Huang Feijiang, Lu Xiaochun, Liu Guangcan, et al. An Algorithm for Dynamic Satellite-Ground Two-way Time Synchronization and Ranging[J]. Journal of Astronautics, 2014, 35(9):1 050-1 057(黄飞江, 卢晓春, 刘光灿,等. 星地动态双向时间同步与测距算法[J]. 宇航学报, 2014, 35(9):1 050-1 057)
[2] Li Ruifeng, Wang Yuanming. Application of Two-way Satellite-Ground Time Synchronization in COMPASS[J].Geomatics and Information Science of Wuhan University, 2013, 38(7): 842-844 (李瑞锋,王元明. 星地双向时间同步技术在COMPASS中的应用[J]. 武汉大学学报·信息科学版, 2013, 38(7): 842-844)
[3] Tang Sheng, Liu Ya, Li Xiaohui. A Study on Onboard Satellite Atomic Clock Autonomous Integrity Monitoring[J]. Journal of Astronautics, 2013, 34(1): 39-45(唐升, 刘娅, 李孝辉. 星载原子钟自主完好性监测方法研究[J]. 宇航学报, 2013, 34(1): 39-45)
[4] Yang Ling, Shen Yunzhong, Lou Lizhi. Equivalent Weight Robust Estimation Method Based on Median Parameter Estimates[J].Acta Geodaetica et Cartographica Sinica, 2011, 40(1):28-32 (杨玲, 沈云中, 楼立志. 基于中位参数初值的等价权抗差估计方法[J]. 测绘学报, 2011, 40(1):28-32)
[5] Wang Qianxin, Xu Tianhe, Xu Guochang. Application of Combining Method of Outlier Detection and Robust Estimation to GPS Kinematic Relative Positioning[J].Geomatics and Information Science of Wuhan University, 2011, 36(4): 476-480 (王潜心,徐天河,许国昌. 粗差检测与抗差估计相结合的方法在动态相对定位中的应用[J]. 武汉大学学报·信息科学版, 2011, 36(4): 476-480)
[6] Wu Jing. Study on Detection of GPS Clock Jump Using Median Absolute Deviation [J].Science of Surveying and Mapping, 2015, 40(6): 36-41(吴静. 利用中位数的GPS卫星钟跳探测方法[J]. 测绘科学, 2015, 40(6):36-41)
[7] Tian Jie, Huang Guanwen, Wang Li, et al. A Data Quality Control Method for the BeiDou-2 Satellite Clock Bias[J].Journal of Geodesy and Geodyna-mics, 2017, 37(2): 215-220(田婕, 黄观文, 王利, 等. 一种北斗二代卫星钟差的数据质量控制方法[J]. 大地测量与地球动力学, 2017, 37(2): 215-220)
[8] Fang Yang, Wang Guangxing, Du Yujun, et al. Comparison and Analysis of Three Methods of Gross Error Detection[J].Bulletin of Surveying and Mapping, 2009(9): 3 427-3 433(方杨, 王广兴, 杜玉军,等. 三种粗差检测方法的比较及分析[J]. 测绘通报, 2009(9):3 427-3 433)
[9] Fei Yetai. Error Theory and Data Processing[M]. 6th ed. Beijing: China Machine Press, 2010(费业泰. 误差理论与数据处理.[M].6版.北京:机械工业出版社,2010)
[10] Ou Jikun. Design of a New Scheme of Robust Estimation by Three Steps[J]. Acta Geodaetica et Cartographica Sinica, 1996, 25(3): 173-179 (欧吉坤. 一种三步抗差方案的设计[J]. 测绘学报, 1996, 25(3):173-179)
[11] Hu Zhigang. BeiDou Navigation Satellite System Performance Assessment Theory and Experimental Verification[D]. Wuhan: Wuhan University, 2013 (胡志刚. 北斗卫星导航系统性能评估理论与试验验证[D]. 武汉:武汉大学, 2013)
[12] Ou Jikun. A New Methool of Gross Error Detection-Quasi-accurate Detection Method [J]. Chinese Sciencc Bulletin, 1999, 44(16):1 777-1 781(欧吉坤. 一种检测粗差的新方法——拟准检定法[J]. 科学通报,1999,44(16):1 777-1 781)
[13] Ou Jikun. Further on the Principle Implementation and Application of Quasi-accurate Detection Method[J].Engineering of Surveying and Mapping, 2002, 11(4):3-6 (欧吉坤. 再论拟准检定法的原理、实施和应用[J]. 测绘工程, 2002, 11(4):3-6)
[14] Ou Jikun. Selection of Quasi-accurate Observations and Hive off Phenomena About the Estimators of Real Errors[J].Acta Geodaetica et Cartographica Sinica, 2000, 29(Sup): 7-12 (欧吉坤. 拟准观测的选取和真误差估值的“分群”现象[J]. 测绘学报, 2000, 29(Sup):7-12)
[15] Chai Yanju. Theory, Application and Program Design of Quasi-Accurate Detection[D]. Wuhan: Institute of Geodesy and Geophysics,University of Chinese Academy of Sciences, 2002 (柴艳菊. 拟准检定法的理论、应用及程序设计[D]. 武汉:中国科学院研究生院(测量与地球物理研究所), 2002)
[16] Kaplan, E D, Christopher J. Hegarty, Understanding GPS Principles and Applications0[M]. 2nd ed.Boston: Artech House Inc,2005
[2] Li Ruifeng, Wang Yuanming. Application of Two-way Satellite-Ground Time Synchronization in COMPASS[J].Geomatics and Information Science of Wuhan University, 2013, 38(7): 842-844 (李瑞锋,王元明. 星地双向时间同步技术在COMPASS中的应用[J]. 武汉大学学报·信息科学版, 2013, 38(7): 842-844)
[3] Tang Sheng, Liu Ya, Li Xiaohui. A Study on Onboard Satellite Atomic Clock Autonomous Integrity Monitoring[J]. Journal of Astronautics, 2013, 34(1): 39-45(唐升, 刘娅, 李孝辉. 星载原子钟自主完好性监测方法研究[J]. 宇航学报, 2013, 34(1): 39-45)
[4] Yang Ling, Shen Yunzhong, Lou Lizhi. Equivalent Weight Robust Estimation Method Based on Median Parameter Estimates[J].Acta Geodaetica et Cartographica Sinica, 2011, 40(1):28-32 (杨玲, 沈云中, 楼立志. 基于中位参数初值的等价权抗差估计方法[J]. 测绘学报, 2011, 40(1):28-32)
[5] Wang Qianxin, Xu Tianhe, Xu Guochang. Application of Combining Method of Outlier Detection and Robust Estimation to GPS Kinematic Relative Positioning[J].Geomatics and Information Science of Wuhan University, 2011, 36(4): 476-480 (王潜心,徐天河,许国昌. 粗差检测与抗差估计相结合的方法在动态相对定位中的应用[J]. 武汉大学学报·信息科学版, 2011, 36(4): 476-480)
[6] Wu Jing. Study on Detection of GPS Clock Jump Using Median Absolute Deviation [J].Science of Surveying and Mapping, 2015, 40(6): 36-41(吴静. 利用中位数的GPS卫星钟跳探测方法[J]. 测绘科学, 2015, 40(6):36-41)
[7] Tian Jie, Huang Guanwen, Wang Li, et al. A Data Quality Control Method for the BeiDou-2 Satellite Clock Bias[J].Journal of Geodesy and Geodyna-mics, 2017, 37(2): 215-220(田婕, 黄观文, 王利, 等. 一种北斗二代卫星钟差的数据质量控制方法[J]. 大地测量与地球动力学, 2017, 37(2): 215-220)
[8] Fang Yang, Wang Guangxing, Du Yujun, et al. Comparison and Analysis of Three Methods of Gross Error Detection[J].Bulletin of Surveying and Mapping, 2009(9): 3 427-3 433(方杨, 王广兴, 杜玉军,等. 三种粗差检测方法的比较及分析[J]. 测绘通报, 2009(9):3 427-3 433)
[9] Fei Yetai. Error Theory and Data Processing[M]. 6th ed. Beijing: China Machine Press, 2010(费业泰. 误差理论与数据处理.[M].6版.北京:机械工业出版社,2010)
[10] Ou Jikun. Design of a New Scheme of Robust Estimation by Three Steps[J]. Acta Geodaetica et Cartographica Sinica, 1996, 25(3): 173-179 (欧吉坤. 一种三步抗差方案的设计[J]. 测绘学报, 1996, 25(3):173-179)
[11] Hu Zhigang. BeiDou Navigation Satellite System Performance Assessment Theory and Experimental Verification[D]. Wuhan: Wuhan University, 2013 (胡志刚. 北斗卫星导航系统性能评估理论与试验验证[D]. 武汉:武汉大学, 2013)
[12] Ou Jikun. A New Methool of Gross Error Detection-Quasi-accurate Detection Method [J]. Chinese Sciencc Bulletin, 1999, 44(16):1 777-1 781(欧吉坤. 一种检测粗差的新方法——拟准检定法[J]. 科学通报,1999,44(16):1 777-1 781)
[13] Ou Jikun. Further on the Principle Implementation and Application of Quasi-accurate Detection Method[J].Engineering of Surveying and Mapping, 2002, 11(4):3-6 (欧吉坤. 再论拟准检定法的原理、实施和应用[J]. 测绘工程, 2002, 11(4):3-6)
[14] Ou Jikun. Selection of Quasi-accurate Observations and Hive off Phenomena About the Estimators of Real Errors[J].Acta Geodaetica et Cartographica Sinica, 2000, 29(Sup): 7-12 (欧吉坤. 拟准观测的选取和真误差估值的“分群”现象[J]. 测绘学报, 2000, 29(Sup):7-12)
[15] Chai Yanju. Theory, Application and Program Design of Quasi-Accurate Detection[D]. Wuhan: Institute of Geodesy and Geophysics,University of Chinese Academy of Sciences, 2002 (柴艳菊. 拟准检定法的理论、应用及程序设计[D]. 武汉:中国科学院研究生院(测量与地球物理研究所), 2002)
[16] Kaplan, E D, Christopher J. Hegarty, Understanding GPS Principles and Applications0[M]. 2nd ed.Boston: Artech House Inc,2005