区域GPS精密卫星钟差实时解算方法研究
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摘要
精密单点定位技术(PPP)的出现,改变了GNSS传统精密相对定位模式,对GNSS精密定位的广泛应用有着巨大的推进作用。精密单点定位技术的最大优势在于实时应用,目前实时动态精密单点定位技术也是GPS研究的热点和难点之一,其实时应用尚难以推广主要受到精密卫星钟差解算精度及钟差发布有一定潜伏期的制约。因此,基于区域GPS观测网络,系统研究精密卫星钟差解算方法,开发自主的精密卫星钟差解算软件,改善精密卫星钟差精度和时效性,对精密单点定位技术的实时应用具有重要的研究意义和应用价值。
本文系统研究精密卫星钟差解算的基本理论和方法,详细讨论了精密卫星钟差解算中各个误差改正项及相关数学模型;然后,基于区域GPS观测网站推导建立了三种精密卫星钟差的解算模型,并依据无模糊度精密卫星钟差模型对算法进行了编程实现;最后,采用国家海洋局沿海GNSS业务化系统的观测数据,完成了区域精密卫星钟差的解算,并与IGS发布的事后发布的精密卫星钟差进行了比较分析。自编卫星钟差解算程序计算的事后精密卫星钟差结果精度约为0.5ns,由于卫星钟(铷钟和铯钟)的不同,不同卫星的钟差精度在0.5ns上下有所波动,这些结果与IGS下设的数据分析中心的结果精度类似。另外,在区域范围内,采用IGS发布的超快速预报精密星历,实时计算的精密卫星钟差结果精度也在0.5ns上下,可以达到与最终星历结果相当的精度,具备实时应用的潜力。
The development of precise point positioning (PPP) technique is changing the GNSS traditional mode of precise relative positioning. And the extensive use of GNSS precise positioning played an important role in the promotion. The main advantage of PPP is the real-time and dynamic application, and the PPP becomes one of the research hotspot in GPS Technology. The real-time PPP application is limited by the real-time clock offsets estimates within a delay of a few seconds and its accuracy of GPS satellite. Therefore, it is quite important and valuable to study the estimation method of satellite clock offsets, develop the calculation software and improve the accuracy and timeliness of satellite clock offsets based on regional GPS reference network.
The basic theories and methods of satellite clock offset estimation are systematically investigated in the paper. The major corrections and related mathematic models in calculating precise satellite clock offsets are discussed in detail. And then based regional GPS observations network, three models of estimating satellite clock offsets are derived. According to the satellite clock offsets estimation model without ambiguity resolution, a program for the precise satellite clock offsets estimation is developed. Finally, Clock offsets of the complete GPS constellation are estimated based on the GPS data from the SOA coastal GNSS observation network and our Clock offsets estimations are compared to the final IGS(the International GNSS Service) clock corrections. The results show that their agreement is about 0.5 nanoseconds between our satellite clock offsets results and the final IGS clock corrections. The accuracy of these results are similar to the those from IGS data analysis center. In addition, based on the regional GNSS network, the use of the predicted Ultra Rapid products from IGS, the accuracy of real-time satellite clock offsets is about 0.5 nanoseconds. It is nearly the same as those with the IGS Final GPS orbits. This result will help the further research on the real-time calculation and application of the satellite clock offset.
本文系统研究精密卫星钟差解算的基本理论和方法,详细讨论了精密卫星钟差解算中各个误差改正项及相关数学模型;然后,基于区域GPS观测网站推导建立了三种精密卫星钟差的解算模型,并依据无模糊度精密卫星钟差模型对算法进行了编程实现;最后,采用国家海洋局沿海GNSS业务化系统的观测数据,完成了区域精密卫星钟差的解算,并与IGS发布的事后发布的精密卫星钟差进行了比较分析。自编卫星钟差解算程序计算的事后精密卫星钟差结果精度约为0.5ns,由于卫星钟(铷钟和铯钟)的不同,不同卫星的钟差精度在0.5ns上下有所波动,这些结果与IGS下设的数据分析中心的结果精度类似。另外,在区域范围内,采用IGS发布的超快速预报精密星历,实时计算的精密卫星钟差结果精度也在0.5ns上下,可以达到与最终星历结果相当的精度,具备实时应用的潜力。
The development of precise point positioning (PPP) technique is changing the GNSS traditional mode of precise relative positioning. And the extensive use of GNSS precise positioning played an important role in the promotion. The main advantage of PPP is the real-time and dynamic application, and the PPP becomes one of the research hotspot in GPS Technology. The real-time PPP application is limited by the real-time clock offsets estimates within a delay of a few seconds and its accuracy of GPS satellite. Therefore, it is quite important and valuable to study the estimation method of satellite clock offsets, develop the calculation software and improve the accuracy and timeliness of satellite clock offsets based on regional GPS reference network.
The basic theories and methods of satellite clock offset estimation are systematically investigated in the paper. The major corrections and related mathematic models in calculating precise satellite clock offsets are discussed in detail. And then based regional GPS observations network, three models of estimating satellite clock offsets are derived. According to the satellite clock offsets estimation model without ambiguity resolution, a program for the precise satellite clock offsets estimation is developed. Finally, Clock offsets of the complete GPS constellation are estimated based on the GPS data from the SOA coastal GNSS observation network and our Clock offsets estimations are compared to the final IGS(the International GNSS Service) clock corrections. The results show that their agreement is about 0.5 nanoseconds between our satellite clock offsets results and the final IGS clock corrections. The accuracy of these results are similar to the those from IGS data analysis center. In addition, based on the regional GNSS network, the use of the predicted Ultra Rapid products from IGS, the accuracy of real-time satellite clock offsets is about 0.5 nanoseconds. It is nearly the same as those with the IGS Final GPS orbits. This result will help the further research on the real-time calculation and application of the satellite clock offset.
引文
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[2]李征航,黄劲松等.GPS测量与数据处理[M].武汉大学出版社,2010
[3]叶世榕. GPS非差相位精密单点定位理论与实现[D] .武汉:武汉大学,2002
[4]楼益栋.导航卫星实时精密轨道与钟差确定[D] .武汉:武汉大学,2008
[5] Boonsap Witchayangkoon, Elements of GPS Precise Point Positioning[D],The University of Maine,2000
[6] Gao,Y.and X.Shen, A New Method Of Carrier Phase Based Precise Point Positioning[J].Journal of the institute of navigation,Vol.49,No.2.
[7] Kouba, J, P.Heroux. Precise point positioning using IGS orbit and clock products[J].GPS Solutions,Vol.5,No.2:12～28.
[8]冯义楷. GPS精密卫星钟差的快速确定方法研究[D] .青岛:国家海洋局第一海洋研究所,2009
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[11] Yang Gao, Yufeng Zhang, Kongzhe Chen. Development of a Real-Time Single-Frequency Precise Point Positioning System and Test Results[J]. ION-GNSS,2006,2297-2303
[12] Bock H. Efficient Methods for Determining Precise Orbits of Low Earth Orbiters Using the Global Positioning System[D].PHD thesis.Astronomical Institute University of Berne,Switzerland.
[13] Han S C, J H Kw on, C Jekeli. Accurate absolute GPS positioning through satellite clock error estimation[J].Journal of Geodesy, 2001, (75) : 33-43.
[14] Zumberge J.F, M.M.Watkins, F.H.Webb. Characteristics and Applications of Precise GPS Solutions Every 30 Seconds [J]. Journal of Navigation,1998,44(4):449～456.
[15]季善标,朱文耀,熊永清等.精密GPS卫星钟差的改正和应用[J].空间科学学报,2001,21(1):42-48
[16]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
[17]刘焱雄,周兴华,张卫红等.改进沿海RBN/DGPS系统的方法[J].测绘通报.2006,(7):13-15.
[18]刘焱雄,彭琳,周兴华,吴永亭.网解和PPP解的等价性[J].武汉大学学报.信息科学版.2005,30(8):736-738.
[19]刘焱雄,周兴华,张卫红,吴永亭.GPS精密单点定位精度分析[J].海洋测绘.2005,25(1):44-46.
[20]楼益栋,施闯等,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) :88-91
[21]黄观文,张勤,王继刚等, GPS卫星钟差的估计与预报研究[J].大地测量与地球动力学.2009,29(6):118-125.
[22]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) :1001-1004
[23]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
[24]魏子卿,葛茂荣等. GPS相对定位的数学模型[M].测绘出版社,1998
[25]周忠谟,易杰军,周琪等.GPS卫星测量原理与应用[M].测绘出版社,2004
[26]孔祥元,郭际明,刘宗泉等.大地测量学基础[M].武汉大学出版社,2006
[27] Geoffrey Blewitt. An Automatic Editing Algorithm for GPS data[J].Geophysical Research Letters,1990,17(3):199-222
[28]郑作亚. GPS数据预处理和星载GPS运动学定轨研究及其软件实现[D] .中国科学院上海天文台,2005
[29]杨元喜等.自适应动态导航定位[M].测绘出版社,2006
[30] Elmar Brockmann. Combination of Solutions for Geodetic and Geodynamic Applications of the Global Positioning System (GPS)[M],1997.
[31] C.Kotsakis. On the trade-off between model expansion, model shrinking, and parameter earimation accuracy in least-squares data analysis [J].J Geod(2005)79:460-466.DOI 10.1007/s00190-005-0479-5
[32]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,1999.
[33]刘经南,叶世榕. GPS非差相位精密单点定位技术探讨[J].武汉大学学报.信息科学版.2002,27(3):234-240.
[34]党亚民,秘金钟,成英燕等.全球导航卫星定位系统原理与应用[M].测绘出版社,2007
[35] T.A.Herring,R.W.King,S.C.McClusky. GAMIT Reference Manual GPS Analysis at MIT Release 10.3. http://www-gpsg.mit.edu/~simon/gtgk/docs.htm,2009.7.
[36] P. Tregoning, T. van Dam. Atmospheric pressure loading corrections applied to GPS data at the observation level. GEOPHYSICAL RESEARCH LETTERS, VOL. 32, L22310, doi:10.1029/2005GL024104, 2005.
[37] J. Boehm·R, Heinkelmann·H, Schuh. A global model of pressure and temperature for geodetic applications. J Geod (2007) 81:679–683. DOI 10.1007/s00190-007-0135-3.
[38] J. Kouba. Testing of global pressure/temperature (GPT) model and global mapping function (GMF) in GPS analyses. J Geod (2009):199–208 DOI .1007/s00190-008-0229-6.
[39] Rolf Dach, Urs Hugentobler,Pierre Fridez,Michael Meindl.Bernese GPS Software Version 5.0[M].2007.
[40]王保旗等.FORTRAN 95程序设计与数据结构基础教程[M].天津大学出版社,2006
[41]罗鸣,曹冲,肖雄兵等.全球定位系统---信号、测量与性能[M].电子工业出版社,2008
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