星地双向时差测量系统周跳探测与修复算法

随着空间时间频率基准的精度越来越高,需要与之匹配的空间时频传递技术. 基于载波相位的星地双向时差测量方法可以实现更高的时间频率传递精度,但对于复杂的星地环境,由于航天器飞行动态高,时频传递链路的传输频率高,载波多普勒效应大,更容易出现粗差和周跳. 基于此,研究一种适合高动态环境下的星地双向时差测量系统载波相位周跳探测与修复方法,提出一种适用于三频组合模式的双向周跳探测与修复方法. 该方法联合双频码相 (MW)组合法可以实现不同类型周跳的探测与修复,对于上下行三条微波链路均可探测出周跳的存在并实现毫米级周跳修复精度. 进一步对基于载波相位测量的星地双向时差测量系统的星地时间同步性能进行分析,在经过周跳探测与修复,以及链路时延数据处理,其星地时间同步精度优于0.3×10–12 s.      

Modem通道时延对多台站TWSTFT的影响分析

针对多通道调制解调器(Modem)不同接收通道间时延值差异对双向卫星时间频率传递(TWSTFT)结果产生较大影响的问题,该文通过使用卫星模拟转发器的方法,实时测量地面站设备时延。采用多台站间两两双向的方法,归算后验证设备时延对三站闭合差结果的影响。依托国家授时中心的卫星双向比对网,开展了各地面站间基于中星12号卫星的TWSTFT试验。结果表明,通道时延对闭合差结果影响较大,在通道时延扣除前,误差可达数十纳秒;而在扣除后,结果优于0.2ns。这表明:多通道Modem各通道时延值不同引起的误差可有效测量并扣除,从而多台站开展TWSTFT是可行的。这样不仅提高了TWSTFT的执行效率,方便快捷地检验地面站间时间同步的准确度,而且节约了卫星资源的占用率。     

方差分量估计分析北斗伪距信号精度

针对北斗伪距精度和时间相关性研究较少的问题,该文引入最小二乘方差分量估计方法,对伪距与载波相位形成的电离层残差组合序列求高阶差分,构造伪距观测量的关系方程,并分析了北斗卫星伪距观测量的精度和时间相关性。结果表明,北斗伪距观测量的测量噪声在0.1~0.5m范围内,随高度角的增大而减小;不同频率的伪距噪声各有差异,高度角增大时差异减小,所有测站中B1的伪距噪声最大,B2、B3的大小关系随测站而异;地球同步轨道卫星的伪距精度优于倾斜地球同步轨道和中地球轨道卫星,且后两者差距较小;市场上两款北斗接收机的伪距测量精度相当。相关分析表明,当接收机采样频率等于或低于1Hz时,伪距观测量不存在明显的时间相关性;当采样频率高于1Hz时,伪距观测量表现出较强的时间相关性。     

GPS用于海上定位的模拟试验

文中给出了在海洋测量中用全球定位系统(GPS)伪距以及伪距和载波相位相结合进行定位的数学模型,并用这些模型分析了TL-4100接收机在地面点上70分钟的单点实测资料。分析指出,考虑高程先验信息时,消除了目前P-码三维单点定位特有的零定位现象,并使定位的平面精度优于±5米。P-码伪距和载波相位相结合的单点定位,可以达到优于±0.5米的重复精度。     

监测站时间同步条件下的单星定轨

基于伪距及载波相位观测量的COMPASS-M1卫星精密定轨中轨道误差与钟差分离问题是制约卫星定轨精度提高的主要因素之一。本文首先介绍了基于监测站时间同步条件下精密定轨原理,然后通过对卫星钟差建模,采用动力学方法利用国内五站实测数据对COMPASS-M1卫星进行了轨道确定,并利用轨道重叠弧段法及实测激光数据对定轨精度作了检核。结果表明,基于目前监测站时间同步技术,利用相位平滑伪距定轨能达到10m以内精度。     

GPS信号跟踪的多径影响分析与仿真

多径信号是GPS定位的主要误差源之一。码和载波跟踪环是GPS接收机的重要组成部分，它们直接决定了接收机的性能，因此当前多径消除技术研究的核心即是从跟踪环内部着手研究。本文仔细分析了GPS接收机信号跟踪环以及多径信号对跟踪精度的影响，对伪距码与载波相位多径误差进行了比较，并且通过仿真结果和图表阐明了码和载波相位多径误差之间的协同关系。     

单点定位中一种载波相位平滑伪距方法

针对伪距单点定位精度低,定位结果发散等问题,该文提出一种基于卫星高度角的卡尔曼滤波相位平滑伪距方法。基于该方法利用载波相位信息对C/A码伪距进行平滑,并用最小二乘法求解用户位置。通过实测的静态和动态数据验证了该方法的可行性。结果表明:和最小二乘法比,该方法定位结果更加平滑,一定程度上提高了伪距单点定位精度。其中,静态定位水平精度提升了20.7%,垂直精度提升了15.7%,三维精度提升了16.8%;动态定位水平精度提升了27.8%,垂直精度提升了20.8%,三维精度提升了21.2%。     

利用恒星日滤波改进精密单点电离层延迟提取

利用非组合精密单点定位(PPP)可以提取高精度的电离层延迟。测站多径误差会影响伪距和相位测量精度,影响实时PPP电离层延迟提取的精度以及收敛速度。对于静态观测站,利用对GPS卫星地面跟踪的时间重复性进行恒星日滤波可以消除多径误差的影响。通过事后处理提取前几日的码和载波相位残差序列,利用恒星日滤波建立多径误差改正模型,修正实时观测数据,可以改善实时电离层延迟估计性能。对IGS观测站的实测数据分析表明,应用恒星日滤波多径误差修正后,实时电离层延迟提取的精度由0.185m提高到0.028m,新进卫星的电离层参数估计收敛时间由80min减少为35min。     

抗差Vondrak滤波方法在时间频率传递中的应用

时间频率传递的结果会受到非模型化误差和观测噪声的影响,其噪声常为高频信号,构建低通滤波器可在一定程度上消除观测值序列中的高频噪声信号.本文对Vondrak滤波函数的本质进行剖析,通过IGG3算法对钟差序列进行定权并采用频率响应法选择适合的滤波因子;对不同的链路分别进行卫星双向时间频率传递(two-way satellite time and frequency transfer, TWSTFT)、基于软件接收机的卫星双向时间传递(two-way satellite time and frequency transfer based on software defined receiver, SDR-TWSTFT)和短基线共视时间频率传递实验,并对钟差结果采用抗差Vondrak滤波进行平滑去噪.结果表明：滤波后的钟差序列能够很好地反映原始钟差序列的趋势;平滑后的TWSTFT钟差结果,日波动效应得到了有效的抑制,精度有明显提升;对于共视钟差结果,精度有明显提升,与精密单点定位(precise point positioning,PPP)时间传递结果的差值保持在-1.0～1.0 ns范围内.     

BDS/GPS伪距相位联合定位对病态性改善程度分析

针对北斗卫星导航系统(BeiDou Navigation Satellite System,BDS)/全球卫星导航系统(Global Positioning System,GPS)载波相位定位的病态性,提出采用伪距观测来改善上述问题,并对比分析了在我国8个地面站不同精度伪距观测量的引入对载波相位定位病态性的改善效果,这种病态特征可以通过伪距与载波相位联合观测得到的法方程条件数表示.实验结果表明:伪距观测对载波相位定位的病态性有很大程度的改善,且BDS系统的改善程度比GPS更大;伪距观测精度越高,联合定位的病态性程度越弱;在较短的观测时间内,伪距观测量的引入,对载波相位定位病态性的改善效果非常明显.     

短基线GPS定向系统及搜索模糊度优化算法的研究

GPS载波相位测量相对定位可以达到毫米级精度,利用GPS载波相位测量方向可以达到2密位的精度。研究了载波相位双差测量方向的原理和应用最小二乘法解算基线矢量的算法,详细讨论快速解算整周模糊度的优化算法。实验结果表明,应用双GPS测量方向的原理和搜索模糊度优化算法正确,其定向精度达2密位,解算时间小于0.3秒,并运用于产品中。     

基于双向C波段数据站间时间同步

卫星导航系统时间同步技术是系统的关键技术之一,用于实现卫星和地面站时间统一,其水平直接影响导航系统定位精度。时间同步技术主要包括星地、星间和站间时间同步技术,其中站间时间同步技术又包括了时间频率传递技术、卫星共视技术等。本文详细讨论了站间时间频率传递方法的基本原理和模型,推导了误差模型,分析了影响站间时间频率传递精度的因素,并处理了实际的站间双向C波段数据,分析了站间时间频率传递的精度,结果表明时间频率传递实现的站间时间同步精度1ns。     

GPS sidereal filtering: coordinate- and carrier-phase-level strategies

Multipath error is considered one of the major errors affecting GPS observations. One can benefit from the repetition of satellite geometry approximately every sidereal day, and apply filtering to help minimize this error. For GPS data at 1 s interval processed using a double-difference strategy, using the day-to-day coordinate or carrier-phase residual autocorrelation determined with a 10-h window leads to the steadiest estimates of the error-repeat lag, although a window as short as 2 h can produce an acceptable value with > 97% of the optimal lag’s correlation. We conclude that although the lag may vary with time, such variation is marginal and there is little advantage in using a satellite-specific or other time-varying lag in double-difference processing. We filter the GPS data either by stacking a number of days of processed coordinate residuals using the optimum “sidereal” lag (23 h 55 m 54 s), and removing these stacked residuals from the day in question (coordinate space), or by a similar method using double-difference carrier-phase residuals (observational space). Either method results in more consistent and homogeneous set of coordinates throughout the dataset compared with unfiltered processing. Coordinate stacking reduces geometry-related repeating errors (mainly multipath) better than carrier-phase residual stacking, although the latter takes less processing time to achieve final filtered coordinates. Thus, the optimal stacking method will depend on whether coordinate precision or computational time is the over-riding criterion.     

Calibration errors on experimental slant total electron content (TEC) determined with GPS

The Global Positioning System (GPS) has become a powerful tool for ionospheric studies. In addition, ionospheric corrections are necessary for the augmentation systems required for Global Navigation Satellite Systems (GNSS) use. Dual-frequency carrier-phase and code-delay GPS observations are combined to obtain ionospheric observables related to the slant total electron content (sTEC) along the satellite-receiver line-of-sight (LoS). This observable is affected by inter-frequency biases [IFB; often called differential code biases (DCB)] due to the transmitting and the receiving hardware. These biases must be estimated and eliminated from the data in order to calibrate the experimental sTEC obtained from GPS observations. Based on the analysis of single differences of the ionospheric observations obtained from pairs of co-located dual-frequency GPS receivers, this research addresses two major issues: (1) assessing the errors translated from the code-delay to the carrier-phase ionospheric observable by the so-called levelling process, applied to reduce carrier-phase ambiguities from the data; and (2) assessing the short-term stability of receiver IFB. The conclusions achieved are: (1) the levelled carrier-phase ionospheric observable is affected by a systematic error, produced by code-delay multi-path through the levelling procedure; and (2) receiver IFB may experience significant changes during 1 day. The magnitude of both effects depends on the receiver/antenna configuration. Levelling errors found in this research vary from 1.4 total electron content units (TECU) to 5.3 TECU. In addition, intra-day vaiations of code-delay receiver IFB ranging from 1.4 to 8.8 TECU were detected.     

GPS接收机中抗多路径干扰技术研究

从多路径信号对码跟踪精度的影响入手，得出在多路径干扰下，用窄相关器可以部分修正多路径对码环的跟踪误差。微脉冲相关技术与宽的标准相关器和窄相关器在伪距测量精度上相比是一种性能非常好的抗多路径技术。     

Efficiency of carrier-phase integer ambiguity resolution for precise GPS positioning in noisy environments

Precise GPS positioning relies on tracking the carrier-phase. The fractional part of carrier-phase can be measured directly using a standard phase-locked loop, but the integer part is ambiguous and the ambiguity must be resolved based on sequential carrier-phase measurements to ensure the required positioning precision. In the presence of large phase-measurement noise, as can be expected in a jamming environment for example, the amount of data required to resolve the integer ambiguity can be large, which requires a long time for any generic integer parameter estimation algorithm to converge. A key question of interest in significant applications of GPS where fast and accurate positioning is desired is then how the convergence time depends on the noise amplitude. Here we address this question by investigating integer least-sqaures estimation algorithms. Our theoretical derivation and numerical experiments indicate that the convergence time increases linearly with the noise variance, suggesting a less stringent requirement for the convergence time than intuitively expected, even in a jamming environment where the phase noise amplitude is large. This finding can be useful for practical design of GPS-based systems in a jamming environment, for which the ambiguity resolution time for precise positioning may be critical.     

GPS载波相位测量中的信号多路径效应影响研究

当利用GPS进行高精度变形监测时,GPS信号的多路径效应成为影响GPS变形监测精度和可靠性的一种不可忽略的误差源.本文针对GPS载波相位测量中的多路径效应影响进行理论和试验分析.论述载波相位测量中GPS多路径信号的特征,分析它对载波相位测量的影响,提出在坐标域用移动平均进行短基线静态GPS测量多路径误差探测的方法.通过实测数据进行分析,取得满意的效果.     

基于VC平台的高程控制网平差软件设计与实现

软件采用VC 6.0平台,基于MFC单文档工程,通过编写了闭合差计算、高程控制网间接平差与精度评定代码,实现了对原始数据的计算闭合差,间接平差与精度评定两个功能。实现数据处理软件化自动化运行,提高高程控制网数据处理和精度评定的效率,从而满足测绘专业工作人员的需要。     

基于加权的伪距和历元间相位差分模型GPS单点定位方法

在星载GPS精密定轨或单点定位中,尤其单频接收机的情况下,仅利用相位观测值,由于需要解算模糊度方程通常奇异,仅利用伪距观测资料,由于伪距观测值的噪声影响使得难以实现高精度定位要求。鉴于此,本文讨论了基于加权的伪距和历元间相位差分模型的GPS单点定位方法,该方法既能改善方程奇异性,又无需考虑模糊度因素,能确保观测值的精度。本文分别探讨了伪距观测方程和历元间差分相位观测方程,并给出了联合误差模型,推导了权值的计算公式和参数解算公式,最后基于动态单点定位考虑,探讨了基于加权的伪距和历元间相位差分模型的序贯最小二乘参数解算一般表达式。     

A procedure for testing the assumption of homoscedasticity in least squares residuals: a case study of GPS carrier-phase observations

Due to increased demands on the quality of the results of Global Positioning System (GPS) evaluations, various authors have studied improvements of the stochastic model of GPS carrier-phase observations. These improvements are based on the reasonable assumption that the commonly used stochastic model with independent and homoscedastic (i.e. equal variance) errors is unrealistic. However, this has not been proved rigorously so far. A statistical test procedure based on uncorrelated least–squares residuals, which allows verification of the hypothesis of a heterogeneous variance, is provided. The statistical test procedure is of interest in its own right, and is independent of the practical problem considered. The presented technique is applied to GPS carrier-phase observations. Results show that the variances of the investigated observations are far from homogeneous. It is indicated that the error variances of the presented data increase with decreasing GPS satellite elevation. These results confirm the assumption that the commonly used stochastic model of GPS observations is inadequate and has to be improved.