一种全球导航卫星系统钟差估计优化方案的量化研究
|
摘要
针对卫星钟差解算策略的优化问题,基于全球导航卫星系统数据处理软件BERNESE,设计了卫星估计钟差解算方案。提出"单位时间误差梯度"的概念,量化了解算精密钟差的效率。采用基于不规则三角网的选站法选取参考站,利用历元参数在历元间的独立性,分步解算各类参数。既减少了因大量历元参数存在引起的时间迟滞,又消除了单历元观测离群值对非历元参数估计的影响,从而提高了卫星钟差估计效率。利用国际全球导航卫星系统服务跟踪站作为参考站对以上解算过程进行实验,结果表明估计钟差与该机构精密钟差的符合精度达到0. 1 ns,陆态网精密单点定位动态解最大偏差小于10 cm,能够满足动态定位厘米级的精度要求,为估计钟差时参考站的数量和几何分布的选择提供了参考。
In order to optimize the solution algorithm of satellite clock,a solution for estimating satellite clock was designed based on BERNESE data processing software. The concept of "gradient of error per unit time"was proposed to quantify the efficiency of estimating precision clock. The reference station was selected based on the station selection method of Triangulated Irregular Network,and the independence of the epoch parameters were used to solve various parameters step by step. The time delay was reduced caused by the existence of a large number of epoch parameters,and the influence of single epoch observation outliers on the estimation of non-epoch parameters was eliminated,thereby the efficiency of estimating satellite clock was improved. Experimenting with the above solution process using the tracking stations of International Service of Global Navigation Satellite System as a reference station,the results show that the difference between the estimating clock with precision clock of the agency reaches 0. 1 ns,and the maximum deviation of the precise point positioning dynamic solution of the Crustal Movement Observation Network of China is less than 10 cm,which can meet the accuracy requirements of centimeter dynamic positioning,and can provide a reference for the selection of the number of reference stations and the choice of geometric distribution for estimating the clock.
In order to optimize the solution algorithm of satellite clock,a solution for estimating satellite clock was designed based on BERNESE data processing software. The concept of "gradient of error per unit time"was proposed to quantify the efficiency of estimating precision clock. The reference station was selected based on the station selection method of Triangulated Irregular Network,and the independence of the epoch parameters were used to solve various parameters step by step. The time delay was reduced caused by the existence of a large number of epoch parameters,and the influence of single epoch observation outliers on the estimation of non-epoch parameters was eliminated,thereby the efficiency of estimating satellite clock was improved. Experimenting with the above solution process using the tracking stations of International Service of Global Navigation Satellite System as a reference station,the results show that the difference between the estimating clock with precision clock of the agency reaches 0. 1 ns,and the maximum deviation of the precise point positioning dynamic solution of the Crustal Movement Observation Network of China is less than 10 cm,which can meet the accuracy requirements of centimeter dynamic positioning,and can provide a reference for the selection of the number of reference stations and the choice of geometric distribution for estimating the clock.
引文
1周俊,马建林.双差定位法在龙门山断裂带震源重定位中的应用[J].科学技术与工程,2018,18(28):1-5Zhou Jun,Ma Jianlin.Application of double difference earthquake location algorithm in earthquake relocation of Longmenshan fault zone[J].Science Technology and Engineering,2018,18(28):1-5
2张小红,郭斐,郭博峰,等.利用高频GPS进行地表同震位移监测及震相识别[J].地球物理学报,2012,55(6):1912-1918Zhang Xiaohong,Guo Fei,Guo Bofeng,et al.Coseismic displacement monitoring and wave picking with high-frequency GPS[J].Chinese Journal of Geophysics,2012,55(6):1912-1918
3刘腾,袁运斌,张宝成.BDS/GLONASS非组合精密单点定位模型与算法[J].地球物理学报,2017,60(4):1347-1358Liu Teng,Yuan Yunbin,Zhang Baocheng.The models and algorithms of uncombined precise point positioning with BDS/GLONASSdata[J].Chinese Journal of Geophysics,2017,60(4):1347-1358
4吴志露,刘焱雄,何秀凤,等.基于近岸海岛GPS数据反演海洋分潮负荷影响[J].地球物理学报,2017,60(1):61-69Wu Zhilu,Liu Yanxiong,He Xiufeng,et al.Inversion of ocean tidal loadings of marine constituents based on the GPS measurements in the offshore islands[J].Chinese Journal of Geophysics,2017,60(1):61-69
5 Zumberge J,Heflin M,Jefferson D,et al.Precise point positioning for the efficient and robust analysis of GPS data from large networks[J].Journal of Geophysical Research Solid Earth,1997,102(B3):5005-5017
6张彩红,朱波,张黎.应用Bernese软件进行高精度GPS定位解算[J].测绘地理信息,2006,31(3):8-9Zhang Caihong,Zhu Bo,Zhang Li.Applying BERNESE to analysis GPS position with high precisioning[J].Journal of Geomatics,2006,31(3):8-9
7 Hauschild A,Montenbruck O.Kalman-filter-based GPS clock estimation for near real-time positioning[J].GPS Solutions,2009,13(3):173-182
8 Ray J,Griffiths J,Trans E.Status of IGS ultra-rapid productsfor realtime applications[C]//2008 AGU Fall Meeting.San Francisco,CA,USA:American Geophysical Union,2008:18-19
9王国成,柳林涛,徐爱功,等.径向基函数神经网络在GPS卫星钟差预报中的应用[J].测绘学报,2014,43(8):803-807Wang Guocheng,Liu Lintao,Xu Aigong,et al.The application of radial basis function neural network in the GPS satellite clock bias prediction[J].Acta Geodaetica et Cartographica Sinica,2014,43(8):803-807
10朱祥维,肖华,雍少为,等.卫星钟差预报的Kalman算法及其性能分析[J].宇航学报,2008,29(3):966-970Zhu Xiangwei,Xiao Hua,Yong Shaowei,et al.The Kalman algorithm used for satellite clock offset prediction and its performance analysis[J].Journal of Astronautics,2008,29(3):966-970
11李黎,匡翠林,朱建军,等.基于IGU预报轨道实时估计精密卫星钟差[J].大地测量与地球动力学,2011,31(2):111-116Li Li,Kuang Cuilin,Zhu Jianjun,et al.Real-time estimation of precise satellites clock bias based on IGU predicted orbit[J].Journal of Geodesy and Geodynamics,2011,31(2):111-116
12张小红,李星星,李盼.GNSS精密单点定位技术及应用进展[J].测绘学报,2017,46(10):1399-1407Zhang Xiaohong,Li Xingxing,Li Pan.Review of GNSS PPP and its application[J].Acta Geodaetica Et Cartographica Sinica,2017,46(10):1399-140
13 Mervart L,Lukes Z,Rocken C,et al.Precise point positioning with ambiguity resolution in real-time[C].Proceedings of the 21st International Technical Meeting of the Satellite Division of the Institute of Navigation(ION GNSS 2008).Savannah,GA,USA:The Institute of Navigation,2008:397-405
14 Ge M,Chen J,Gendt G,et al.A computationally efficient approach for estimating high-rate satellite clock corrections in realtime[J].GPS Solutions,2012,16(1):9-17
15楼益栋,施闯,周小青,等.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):88-91Lou Yidong,Shi Chuang,Zhou Xiaoqing,et al.Realization and analysis of GPS precise clock products[J].Geomatics and Information Science of Wuhan University,2009,34(1):88-91
16 Zhang X H,Li X X,Guo F.Satellite clock estimation at 1 Hz for real-time kinematic PPP applications[J].GPS Solutions,2011,15(4):315-324
17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):661-664Li Xingxing,Xu Yun,Wang Lei.Undifferenced precise satellite clock error estimation and precision analysis[J].Geomatics and Information Science of Wuhan University,2010,35(6):661-664
18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):1293-1296Cai 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
19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):107-111Qu 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
20刘经南,陈俊勇,张燕平,等.广域差分GPS原理和方法[M].北京:测绘出版社,1999Liu Jingnan,Chen Junyong,Zhang Yanping,et al.Principles and methods of wide area difference GPS[M].Beijing:Surveying and Mapping Press,1999
21李明哲,张绍成,胡友健,等.基于高频观测值的不同GNSS卫星钟稳定性分析[J].武汉大学学报(信息科学版),2018,43(10):1490-1495Li Mingzhe,Zhang Shaocheng,Hu Youjian,et al.Comparison of GNSS satellite clock stability based on high frequency observations[J].Geomatics and Information Science of Wuhan University,2018,43(10):1490-1495
22刘轩黄.最小二乘递推算法和Kalman滤波算法[J].华东交通大学学报,1998,15(2):62-68Liu Xuanhuang.The algorithms of recursive least-square and Kalman filtering[J].Journal of East China Jiaotong University,1998,15(2):62-68
23代桃高,李建文,赵静,等.基于TIN网的全球选站研究及精密定轨应用[J].大地测量与地球动力学,2017,37(1):77-80Dai Taogao,Li Jianwen,Zhao Jing,et al.Study of global station-selection and application in precise orbit determination based on TIN net[J].Journal of Geodesy and Geodynamics,2017,37(1):77-80
24 Teferle F N,Orliac E J,Bingley R M.An assessmentof BERNESEGPS software precise point positioning using IGS final products for global site velocities[J].GPS Solutions,2007,11(3):205-213
25 Guo F,Li X X,Zhang X H,et al.Assessment of precise orbit and clock products for Galileo,BeiDou,and QZSS from IGS Multi-GNSSExperiment(MGEX)[J].GPS Solutions,2017,21(1):279-290
26 Zhao Q L,Guo J,Li M,et al.Initial results of precise orbit and clock determination for COMPASS navigation satellite system[J].Journal of Geodesy,2013,87(5):475-486
2张小红,郭斐,郭博峰,等.利用高频GPS进行地表同震位移监测及震相识别[J].地球物理学报,2012,55(6):1912-1918Zhang Xiaohong,Guo Fei,Guo Bofeng,et al.Coseismic displacement monitoring and wave picking with high-frequency GPS[J].Chinese Journal of Geophysics,2012,55(6):1912-1918
3刘腾,袁运斌,张宝成.BDS/GLONASS非组合精密单点定位模型与算法[J].地球物理学报,2017,60(4):1347-1358Liu Teng,Yuan Yunbin,Zhang Baocheng.The models and algorithms of uncombined precise point positioning with BDS/GLONASSdata[J].Chinese Journal of Geophysics,2017,60(4):1347-1358
4吴志露,刘焱雄,何秀凤,等.基于近岸海岛GPS数据反演海洋分潮负荷影响[J].地球物理学报,2017,60(1):61-69Wu Zhilu,Liu Yanxiong,He Xiufeng,et al.Inversion of ocean tidal loadings of marine constituents based on the GPS measurements in the offshore islands[J].Chinese Journal of Geophysics,2017,60(1):61-69
5 Zumberge J,Heflin M,Jefferson D,et al.Precise point positioning for the efficient and robust analysis of GPS data from large networks[J].Journal of Geophysical Research Solid Earth,1997,102(B3):5005-5017
6张彩红,朱波,张黎.应用Bernese软件进行高精度GPS定位解算[J].测绘地理信息,2006,31(3):8-9Zhang Caihong,Zhu Bo,Zhang Li.Applying BERNESE to analysis GPS position with high precisioning[J].Journal of Geomatics,2006,31(3):8-9
7 Hauschild A,Montenbruck O.Kalman-filter-based GPS clock estimation for near real-time positioning[J].GPS Solutions,2009,13(3):173-182
8 Ray J,Griffiths J,Trans E.Status of IGS ultra-rapid productsfor realtime applications[C]//2008 AGU Fall Meeting.San Francisco,CA,USA:American Geophysical Union,2008:18-19
9王国成,柳林涛,徐爱功,等.径向基函数神经网络在GPS卫星钟差预报中的应用[J].测绘学报,2014,43(8):803-807Wang Guocheng,Liu Lintao,Xu Aigong,et al.The application of radial basis function neural network in the GPS satellite clock bias prediction[J].Acta Geodaetica et Cartographica Sinica,2014,43(8):803-807
10朱祥维,肖华,雍少为,等.卫星钟差预报的Kalman算法及其性能分析[J].宇航学报,2008,29(3):966-970Zhu Xiangwei,Xiao Hua,Yong Shaowei,et al.The Kalman algorithm used for satellite clock offset prediction and its performance analysis[J].Journal of Astronautics,2008,29(3):966-970
11李黎,匡翠林,朱建军,等.基于IGU预报轨道实时估计精密卫星钟差[J].大地测量与地球动力学,2011,31(2):111-116Li Li,Kuang Cuilin,Zhu Jianjun,et al.Real-time estimation of precise satellites clock bias based on IGU predicted orbit[J].Journal of Geodesy and Geodynamics,2011,31(2):111-116
12张小红,李星星,李盼.GNSS精密单点定位技术及应用进展[J].测绘学报,2017,46(10):1399-1407Zhang Xiaohong,Li Xingxing,Li Pan.Review of GNSS PPP and its application[J].Acta Geodaetica Et Cartographica Sinica,2017,46(10):1399-140
13 Mervart L,Lukes Z,Rocken C,et al.Precise point positioning with ambiguity resolution in real-time[C].Proceedings of the 21st International Technical Meeting of the Satellite Division of the Institute of Navigation(ION GNSS 2008).Savannah,GA,USA:The Institute of Navigation,2008:397-405
14 Ge M,Chen J,Gendt G,et al.A computationally efficient approach for estimating high-rate satellite clock corrections in realtime[J].GPS Solutions,2012,16(1):9-17
15楼益栋,施闯,周小青,等.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):88-91Lou Yidong,Shi Chuang,Zhou Xiaoqing,et al.Realization and analysis of GPS precise clock products[J].Geomatics and Information Science of Wuhan University,2009,34(1):88-91
16 Zhang X H,Li X X,Guo F.Satellite clock estimation at 1 Hz for real-time kinematic PPP applications[J].GPS Solutions,2011,15(4):315-324
17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):661-664Li Xingxing,Xu Yun,Wang Lei.Undifferenced precise satellite clock error estimation and precision analysis[J].Geomatics and Information Science of Wuhan University,2010,35(6):661-664
18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):1293-1296Cai 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
19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):107-111Qu 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
20刘经南,陈俊勇,张燕平,等.广域差分GPS原理和方法[M].北京:测绘出版社,1999Liu Jingnan,Chen Junyong,Zhang Yanping,et al.Principles and methods of wide area difference GPS[M].Beijing:Surveying and Mapping Press,1999
21李明哲,张绍成,胡友健,等.基于高频观测值的不同GNSS卫星钟稳定性分析[J].武汉大学学报(信息科学版),2018,43(10):1490-1495Li Mingzhe,Zhang Shaocheng,Hu Youjian,et al.Comparison of GNSS satellite clock stability based on high frequency observations[J].Geomatics and Information Science of Wuhan University,2018,43(10):1490-1495
22刘轩黄.最小二乘递推算法和Kalman滤波算法[J].华东交通大学学报,1998,15(2):62-68Liu Xuanhuang.The algorithms of recursive least-square and Kalman filtering[J].Journal of East China Jiaotong University,1998,15(2):62-68
23代桃高,李建文,赵静,等.基于TIN网的全球选站研究及精密定轨应用[J].大地测量与地球动力学,2017,37(1):77-80Dai Taogao,Li Jianwen,Zhao Jing,et al.Study of global station-selection and application in precise orbit determination based on TIN net[J].Journal of Geodesy and Geodynamics,2017,37(1):77-80
24 Teferle F N,Orliac E J,Bingley R M.An assessmentof BERNESEGPS software precise point positioning using IGS final products for global site velocities[J].GPS Solutions,2007,11(3):205-213
25 Guo F,Li X X,Zhang X H,et al.Assessment of precise orbit and clock products for Galileo,BeiDou,and QZSS from IGS Multi-GNSSExperiment(MGEX)[J].GPS Solutions,2017,21(1):279-290
26 Zhao Q L,Guo J,Li M,et al.Initial results of precise orbit and clock determination for COMPASS navigation satellite system[J].Journal of Geodesy,2013,87(5):475-486