GPS载波相位时间比对数据处理
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摘要
论文的目标是研究GPS载波相位时间比对中周跳的探测与修复和精密星历插值等数据处理方法,编制相关数据处理程序,解决GPS载波相位时间比对中的一些关键问题。论文围绕周跳的探测与修复和精密星历插值方法展开了研究,编制了时间比对数据处理程序,利用实测数据进行了时间比对实验,结果表明,本文使用的算法可靠。论文的主要内容包括:
(1)回顾了高精度远程时间比对技术的发展历程;介绍了目前国际上几种常用的高精度时间比对技术并对其进行了简单的比较;阐述了GPS载波相位时间比对的基本原理;分析了比对中需要顾及的误差源及消除或削弱其影响的方法;
(2)探讨了GPS载波相位时间比对的数据处理方法,重点研究了周跳的探测与修复及精密星历插值方法。提出了一种适用于双频接收机的周跳探测与修复的伪距/相位组合与相位求差法的组合法,使用TurboEdit和组合法两种方案来探测与修复GPS载波相位时间比对中的周跳;利用滑动式Lagrange多项式插值方法对精密星历进行内插,对多项式阶次的选取进行了研究;介绍了相位平滑伪距和整周模糊度的解算方法;
(3)在Windows平台上利用Fortran程序语言编制了GPS载波相位时间比对数据处理程序,分模块阐述了各部分的功能;采用实测数据进行了时间比对实验,与IGS发布的最终钟差产品相比,利用本文编制的数据处理程序进行GPS载波相位时间比对,其单天钟差解的精度可以达到亚ns级,半天的频率稳定度可达7～8×10-15。
The objective of this thesis is to study on cycle slip detection and repair and interpolation algorithm for precise ephemeredes, et al in GPS Carrier-Phase ( GPS CP ) time comparison, develop data processing software package, and solve out GPS CP key issue. The research emphasizes on cycle slip detection and repair and interpolation algorithm for precise ephemeredes. Based on the research, data processing Programming module is programmed, a time comparison experiment based on the Programming is carried out using raw GPS observation data, the results demonstrate that the algorithm used in this paper is credible. The core of the thesis includes the following:
(1) The development history of the precise time comparison technologies is reviewed; the principle of GPS Common-View, Two-Way Satellite Time and Frequency Transfer and GPS Carrier-Phase are introduced, and they are compared in brief; the main error sources which limit the improvement of GPS CP time comparison, and several models for error correction and mitigation are analyzed;
(2) Data processing methods are discussed, the study emphasizes on cycle slip detection and repair and interpolation algorithm for precise ephemeredes. Two Level Combination method of pseudorange/Carrier-Phase combination and dual frequency differenced Carrier-Phase, which suits dual-frequency receiver, is proposed to detect and correct cycle slip, two programs of TurboEdit and Two Level Combination methods are used in order to detect and fix cycle slip occurring in GPS CP time comparison; Sliding Lagrange polynomial interpolation algorithm is made use for precise ephemeredes, the reasonable polynomial order is investigated; phase smoothing pseudorange and fixing ambiguity algorithms are introduced;
(3) The Programming module of data processing is developed using Fotran Programming language on Windows Operation System platform, blocking design is described with each sub-module function; a time comparison experiment based on the Programming is carried out using raw GPS observation data provided by IGS tracking stations, the results indicate that the precision of time comparison is up to sub-nanosecond , and a frequency stability of 7～8×10-15 is derived for averaging times of half-day.
(1)回顾了高精度远程时间比对技术的发展历程;介绍了目前国际上几种常用的高精度时间比对技术并对其进行了简单的比较;阐述了GPS载波相位时间比对的基本原理;分析了比对中需要顾及的误差源及消除或削弱其影响的方法;
(2)探讨了GPS载波相位时间比对的数据处理方法,重点研究了周跳的探测与修复及精密星历插值方法。提出了一种适用于双频接收机的周跳探测与修复的伪距/相位组合与相位求差法的组合法,使用TurboEdit和组合法两种方案来探测与修复GPS载波相位时间比对中的周跳;利用滑动式Lagrange多项式插值方法对精密星历进行内插,对多项式阶次的选取进行了研究;介绍了相位平滑伪距和整周模糊度的解算方法;
(3)在Windows平台上利用Fortran程序语言编制了GPS载波相位时间比对数据处理程序,分模块阐述了各部分的功能;采用实测数据进行了时间比对实验,与IGS发布的最终钟差产品相比,利用本文编制的数据处理程序进行GPS载波相位时间比对,其单天钟差解的精度可以达到亚ns级,半天的频率稳定度可达7～8×10-15。
The objective of this thesis is to study on cycle slip detection and repair and interpolation algorithm for precise ephemeredes, et al in GPS Carrier-Phase ( GPS CP ) time comparison, develop data processing software package, and solve out GPS CP key issue. The research emphasizes on cycle slip detection and repair and interpolation algorithm for precise ephemeredes. Based on the research, data processing Programming module is programmed, a time comparison experiment based on the Programming is carried out using raw GPS observation data, the results demonstrate that the algorithm used in this paper is credible. The core of the thesis includes the following:
(1) The development history of the precise time comparison technologies is reviewed; the principle of GPS Common-View, Two-Way Satellite Time and Frequency Transfer and GPS Carrier-Phase are introduced, and they are compared in brief; the main error sources which limit the improvement of GPS CP time comparison, and several models for error correction and mitigation are analyzed;
(2) Data processing methods are discussed, the study emphasizes on cycle slip detection and repair and interpolation algorithm for precise ephemeredes. Two Level Combination method of pseudorange/Carrier-Phase combination and dual frequency differenced Carrier-Phase, which suits dual-frequency receiver, is proposed to detect and correct cycle slip, two programs of TurboEdit and Two Level Combination methods are used in order to detect and fix cycle slip occurring in GPS CP time comparison; Sliding Lagrange polynomial interpolation algorithm is made use for precise ephemeredes, the reasonable polynomial order is investigated; phase smoothing pseudorange and fixing ambiguity algorithms are introduced;
(3) The Programming module of data processing is developed using Fotran Programming language on Windows Operation System platform, blocking design is described with each sub-module function; a time comparison experiment based on the Programming is carried out using raw GPS observation data provided by IGS tracking stations, the results indicate that the precision of time comparison is up to sub-nanosecond , and a frequency stability of 7～8×10-15 is derived for averaging times of half-day.
引文
[1] G.Petit,E.F.Arias. Use of IGS products in TAI applications[J]. Journal of Geodesy,2009,84(3-4):327–334.
[2] G Petit,Z Jiang. GPS All in View time transfer for TAI computation[J]. Metrologia,2008,45(1):35-45.
[3] Lewandows KiW, Azoubib J. GPS World,1998:30.
[4] S.A.Diddams,J.C.Bergquist ,et al. Standards of time and Frequency at the outset of the 21st century[J]. science,2004,306(19):1318-1324.
[5] Jim Ray,Ken Senior. Geodetic techniques for time and frequency comparisons using GPS phase and code measurements[J] ,Metrologia ,2005,42(4),215-232.
[6] T. Feldmann,D. Piester,A. Bauch. GPS Carrier-Phase time and frequency transfer with different versions of precise point positioning software[C]. 40th Annual Precise Time and Time Interval (PTTI) Meeting,Santa Ana Pueblo(NM),2008:403-413.
[7] Ray J,Senior K. IGS/BIPM Pilot Project :GPS Carrier Phase for Time/ Frequency Transfer and Timescale Formation[J]. Metrologia ,2003,40(3):270-288.
[8] Senior K,Koppang P,Ray J. Developing an IGS Time Scale[C]. IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control,2003,50(6):585-593.
[9] Kouba J,T. Springer. New IGS Station and Satellite Clock Combination[J]. GPS Solutions,2001,4(4):31-36.
[10] Senior K. New IGS Timescale & New UT1/LOD Series [ C ] . Analysis Center Workshop , Florida, 2008.
[11] Diego Orgiazzi,Patrizia Tavella,Francois Lahaye. Experimental Assessment of the Time Transfer Capability of Precise Point Positioning (PPP)[C]. International Frequency Control Symposium and Exhibition,Vancouver(CA),2005:29-31.
[12] Petit. G,Jiang. Z. Precise Point Positioning for TAI Computation[C]. Frequency Control Symposium Joint with the 21st European Frequency and Time Forum,Geneva,2007:395-398.
[13] Schildknecht. T,Beutler. G,et al. Towards subnanosecond GPS time transfer Using geodetic processing technique[C]. In Proceedings 4th EFTF,1990:335-346.
[14] Baeriswy. P,Springer. T,et al. Frenquency and time-transfer with geodetic GPS Receivers:first results. In Proceedings 9th EFTF,1995:46-51.
[15] SeungWoo Lee1,Bob E Schutz,Chang-Bok Lee1,et al. A study on the Common-View and All-in-View GPS time transfer using Carrier-Phase measurements[J]. Metrologia,2008,45(2):156–167.
[16] J. Kouba,P Heroux. Precise Point Positioning Using IGS Orbit and Clock Products[J]. GPS Solutions,2001,5(2):12-28.
[17] Boonsap. W. Elements Of GPS Precise Point Positioning[D]. The University of Maine,2000.
[18] Mohamed Abdel-tawwab Abdel-salam. Precise Point Positioning Using Un-Differenced Code and Carrier Phase Observations[D]. The University of Calgary,2005.
[19] G.Petit, Zhiheng.J. Precise Point Positioning for TAI Computation[J].International Journal of Navigation and Observation,2008(2008):1-8.
[20]叶世榕. GPS非差精密单点定位理论与实现[D].武汉大学博士学位论文,2002.
[21] Feldmann. T,Bauch. A,et al. GPS carrier phase and precise pointpositioning time scale comparisons using different software packages[C]. Frequency Control Symposium,2009 Joint with the 22nd European Frequency and Time Forum,Besancon ,2009:120-125.
[22]李滚. GPS载波相位时间频率传递研究[D].中国科学院研究生院博士学位论文,2007.
[23]陈宪冬.基于大地型时频传递接收机的精密时间传递算法研究[J].武汉大学学报·信息科学版,2008,33(3):245-248.
[24]张小红,程世来等.单站GPS载波平滑伪距精密授时研究[J].武汉大学学报·信息科学版,2009,34(4):463-465.
[25]张小红,蔡诗响等.利用GPS精密单点定位进行时间传递精度分析[J].武汉大学学报·信息科学版,2010,35(3):274-278.
[26] Dach. R, Schildknecht T,et al. Continuous Geodetic Time-Transfer Analysis Methods[C]. IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency control, 2006, 53(7):1250-1259.
[27] Sophie Pireaux, Pascale Defraigne,elt. Influence of ionospheric perturbations in GPS time and frequency transfer[C]. 40th Annual Precise Time and Time Interval (PTTI) Meeting , Santa Ana Pueblo(NM),2008:387-401.
[28] Wu Chen,Congwei Hu,et al. Error Correction Models And Their Effects On GPS Precise Point Positioning[J]. Survey Review, 2009,41(313):238-252.
[29] IGS Data & Products. http://igscb.jpl.nasa.gov/components/prods.html,2010.
[30] John Paul Coilins. Assessment and Development of the Tropospheric Delay Model for Aircraft Users of the Global Positioning System[D]. The University of New Brunswick,1999.
[31] Boehm J,Niell A,Tregoning P,et al. The Global Mapping Function (GMF):a New Emprirical Mapping Function Based on Numerical Weather Model Data[J]. Geophysical Research Letters,2006,33(7):1-4.
[32] Guochang Xu. GPS Theory, Algorithms and Applications(Second Edition)[M]. Springer,2007.
[33]李征航,张小红.卫星导航定位新技术及高精度数据处理方法[M].武汉:武汉大学出版社,2009.
[34] Rothacher. M,G. Beutler. Advanced Aspects of Satellite Positioning[R]. Lecture notes for ENGO609.90,The University of Calgary,AC,Canada,2002.
[35] Petit. G,Zhiheng. Jiang,et al. Differential Calibration of Ashtech Z12-T Recervers for Accurate Time Comparisons[C]. In Proceedings 14th EFTF,2000.
[36] Wu,J.T,Wu,S.C,et al. Effects of Antenna Orientation on GPS Carrier Phase[J]. Manuscripta Geodaetica,2003(18):91-98.
[37] Dennis D. M,G. Petit. IERS Conventions(2003),2004.
[38]孙伟,熊伟,伍岳.不同采样率对GPS原始相位观测值周跳探测方法的影响及其效果比较[J].全球定位系统,2005,30(5):40-45.
[39]雷雨,高玉平.综合利用双频载波相位观测值进行周跳的探测与修复[J].全球定位系统,2009,34(6):23-27.
[40]郑作亚,程宗颐等.对Blewitt周跳探测与修复方法的改进[J].天文学报, 2005,46(2):216-224.
[41]生仁军. GPS载波相位定位中周跳探测方法的研究[D].东南大学硕士学位论文,2006.
[42]王仁谦,朱建军.利用双频载波相位观测值求差的方法探测与修复周跳[J].测绘通报,2004(6):9-11.
[43]洪樱,欧吉坤,彭碧波. GPS卫星精密星历和钟差三种内插方法的比较[J].武汉大学学报·信息科学版,2006,31(6):516-518.
[44]范士杰,郭际明,彭秀英. GPS双频相位平滑伪距及其单点定位的精度研究[J].测绘工程,2005,14(4):39-42.
[45]范士杰,孔祥元.基于Hatch滤波的GPS伪距相位平滑及其在单点定位中的应[J].勘察科学技术,2007(4):40-42.
[46]唐卫明,刘智敏. GPS载波相位平滑伪距精度分析与应用探讨[J].测绘信息与工程,2005,30(3):37-39.
[47] Hatch R. The Synergism of GPS Code and Carrier Measurements[C]. Proceedings of the Third International Geodetic Symposium on Satellite Doppler Positioning,New Mexic,USA , 1982(2):1213-1232.
[48] EKSTROM C R,KOPPANG P A. Degrees of Freedom and Three-Cornered Hats[C]. 33rd Annual Precise Time and Time(PTTI)Metting,U.S. Naval Observatory,Washington D.C,2001:425-430.
[2] G Petit,Z Jiang. GPS All in View time transfer for TAI computation[J]. Metrologia,2008,45(1):35-45.
[3] Lewandows KiW, Azoubib J. GPS World,1998:30.
[4] S.A.Diddams,J.C.Bergquist ,et al. Standards of time and Frequency at the outset of the 21st century[J]. science,2004,306(19):1318-1324.
[5] Jim Ray,Ken Senior. Geodetic techniques for time and frequency comparisons using GPS phase and code measurements[J] ,Metrologia ,2005,42(4),215-232.
[6] T. Feldmann,D. Piester,A. Bauch. GPS Carrier-Phase time and frequency transfer with different versions of precise point positioning software[C]. 40th Annual Precise Time and Time Interval (PTTI) Meeting,Santa Ana Pueblo(NM),2008:403-413.
[7] Ray J,Senior K. IGS/BIPM Pilot Project :GPS Carrier Phase for Time/ Frequency Transfer and Timescale Formation[J]. Metrologia ,2003,40(3):270-288.
[8] Senior K,Koppang P,Ray J. Developing an IGS Time Scale[C]. IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control,2003,50(6):585-593.
[9] Kouba J,T. Springer. New IGS Station and Satellite Clock Combination[J]. GPS Solutions,2001,4(4):31-36.
[10] Senior K. New IGS Timescale & New UT1/LOD Series [ C ] . Analysis Center Workshop , Florida, 2008.
[11] Diego Orgiazzi,Patrizia Tavella,Francois Lahaye. Experimental Assessment of the Time Transfer Capability of Precise Point Positioning (PPP)[C]. International Frequency Control Symposium and Exhibition,Vancouver(CA),2005:29-31.
[12] Petit. G,Jiang. Z. Precise Point Positioning for TAI Computation[C]. Frequency Control Symposium Joint with the 21st European Frequency and Time Forum,Geneva,2007:395-398.
[13] Schildknecht. T,Beutler. G,et al. Towards subnanosecond GPS time transfer Using geodetic processing technique[C]. In Proceedings 4th EFTF,1990:335-346.
[14] Baeriswy. P,Springer. T,et al. Frenquency and time-transfer with geodetic GPS Receivers:first results. In Proceedings 9th EFTF,1995:46-51.
[15] SeungWoo Lee1,Bob E Schutz,Chang-Bok Lee1,et al. A study on the Common-View and All-in-View GPS time transfer using Carrier-Phase measurements[J]. Metrologia,2008,45(2):156–167.
[16] J. Kouba,P Heroux. Precise Point Positioning Using IGS Orbit and Clock Products[J]. GPS Solutions,2001,5(2):12-28.
[17] Boonsap. W. Elements Of GPS Precise Point Positioning[D]. The University of Maine,2000.
[18] Mohamed Abdel-tawwab Abdel-salam. Precise Point Positioning Using Un-Differenced Code and Carrier Phase Observations[D]. The University of Calgary,2005.
[19] G.Petit, Zhiheng.J. Precise Point Positioning for TAI Computation[J].International Journal of Navigation and Observation,2008(2008):1-8.
[20]叶世榕. GPS非差精密单点定位理论与实现[D].武汉大学博士学位论文,2002.
[21] Feldmann. T,Bauch. A,et al. GPS carrier phase and precise pointpositioning time scale comparisons using different software packages[C]. Frequency Control Symposium,2009 Joint with the 22nd European Frequency and Time Forum,Besancon ,2009:120-125.
[22]李滚. GPS载波相位时间频率传递研究[D].中国科学院研究生院博士学位论文,2007.
[23]陈宪冬.基于大地型时频传递接收机的精密时间传递算法研究[J].武汉大学学报·信息科学版,2008,33(3):245-248.
[24]张小红,程世来等.单站GPS载波平滑伪距精密授时研究[J].武汉大学学报·信息科学版,2009,34(4):463-465.
[25]张小红,蔡诗响等.利用GPS精密单点定位进行时间传递精度分析[J].武汉大学学报·信息科学版,2010,35(3):274-278.
[26] Dach. R, Schildknecht T,et al. Continuous Geodetic Time-Transfer Analysis Methods[C]. IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency control, 2006, 53(7):1250-1259.
[27] Sophie Pireaux, Pascale Defraigne,elt. Influence of ionospheric perturbations in GPS time and frequency transfer[C]. 40th Annual Precise Time and Time Interval (PTTI) Meeting , Santa Ana Pueblo(NM),2008:387-401.
[28] Wu Chen,Congwei Hu,et al. Error Correction Models And Their Effects On GPS Precise Point Positioning[J]. Survey Review, 2009,41(313):238-252.
[29] IGS Data & Products. http://igscb.jpl.nasa.gov/components/prods.html,2010.
[30] John Paul Coilins. Assessment and Development of the Tropospheric Delay Model for Aircraft Users of the Global Positioning System[D]. The University of New Brunswick,1999.
[31] Boehm J,Niell A,Tregoning P,et al. The Global Mapping Function (GMF):a New Emprirical Mapping Function Based on Numerical Weather Model Data[J]. Geophysical Research Letters,2006,33(7):1-4.
[32] Guochang Xu. GPS Theory, Algorithms and Applications(Second Edition)[M]. Springer,2007.
[33]李征航,张小红.卫星导航定位新技术及高精度数据处理方法[M].武汉:武汉大学出版社,2009.
[34] Rothacher. M,G. Beutler. Advanced Aspects of Satellite Positioning[R]. Lecture notes for ENGO609.90,The University of Calgary,AC,Canada,2002.
[35] Petit. G,Zhiheng. Jiang,et al. Differential Calibration of Ashtech Z12-T Recervers for Accurate Time Comparisons[C]. In Proceedings 14th EFTF,2000.
[36] Wu,J.T,Wu,S.C,et al. Effects of Antenna Orientation on GPS Carrier Phase[J]. Manuscripta Geodaetica,2003(18):91-98.
[37] Dennis D. M,G. Petit. IERS Conventions(2003),2004.
[38]孙伟,熊伟,伍岳.不同采样率对GPS原始相位观测值周跳探测方法的影响及其效果比较[J].全球定位系统,2005,30(5):40-45.
[39]雷雨,高玉平.综合利用双频载波相位观测值进行周跳的探测与修复[J].全球定位系统,2009,34(6):23-27.
[40]郑作亚,程宗颐等.对Blewitt周跳探测与修复方法的改进[J].天文学报, 2005,46(2):216-224.
[41]生仁军. GPS载波相位定位中周跳探测方法的研究[D].东南大学硕士学位论文,2006.
[42]王仁谦,朱建军.利用双频载波相位观测值求差的方法探测与修复周跳[J].测绘通报,2004(6):9-11.
[43]洪樱,欧吉坤,彭碧波. GPS卫星精密星历和钟差三种内插方法的比较[J].武汉大学学报·信息科学版,2006,31(6):516-518.
[44]范士杰,郭际明,彭秀英. GPS双频相位平滑伪距及其单点定位的精度研究[J].测绘工程,2005,14(4):39-42.
[45]范士杰,孔祥元.基于Hatch滤波的GPS伪距相位平滑及其在单点定位中的应[J].勘察科学技术,2007(4):40-42.
[46]唐卫明,刘智敏. GPS载波相位平滑伪距精度分析与应用探讨[J].测绘信息与工程,2005,30(3):37-39.
[47] Hatch R. The Synergism of GPS Code and Carrier Measurements[C]. Proceedings of the Third International Geodetic Symposium on Satellite Doppler Positioning,New Mexic,USA , 1982(2):1213-1232.
[48] EKSTROM C R,KOPPANG P A. Degrees of Freedom and Three-Cornered Hats[C]. 33rd Annual Precise Time and Time(PTTI)Metting,U.S. Naval Observatory,Washington D.C,2001:425-430.