基于实时多系统PPP模糊度固定的时间传递算法

随着RTS (Real-Time Service)工程的发展,时频用户可以运用实时精密单点定位(Precise Point Positioning, PPP)技术进行时间传递研究.作为RTS工程的主要参与者,CNES (Centre National d’Etudes Spatiales)分析中心开展PPPWIZARD (Precise Point Positioning with Integer and Zero-difference Ambiguity Resolution Demonstrator)工程验证实时PPP模糊度固定技术.为了探究多系统观测值和实时PPP模糊度固定对时间传递的性能提升,在综合GPS (Global Positioning System)、GLONASS (GLObal NAvigation Satellite System)、 BDS (Bei Dou navigation System)和Galileo的多系统观测值的基础上,使用CNES分析中心播发的实时产品开展PPP时间传递验证实验,检验了4种不同PPP模式的工作性能.实验结果证明,在多种不同工作模式当中,综合运用多系统观测值和GPS模糊度固定技术进行PPP时间传递的标准差结果最小,标准差相比于传统GPS PPP时间传递平均下降38.1%.     

GNSS系统时间偏差的确定及其对定位结果的影响

由于GNSS各个导航系统都有独立的系统时间,在GNSS多模导航定位中需要对各导航系统之间的系统时差进行处理。以GPS／GLONASS双模导航为例,讨论了系统时差的解决方法以及系统时差对定位结果的影响。实验结果表明,在多模导航定位中考虑系统时差可以有效地提高定位结果的准确性,改善定位结果的精度。     

BDS-3新频点信号双频精密单点定位精度分析

北斗卫星导航系统(BeiDou navigation satellite System, BDS)已于2020年7月正式建成并开通, 北斗三号(BDS-3)在旧信号B1I和B3I的基础上, 增加了B1C、B2a新信号. 为了全面评估BDS-3的新信号B1C、B2a的定位性能, 试验了GPS (Global Positioning System)、BDS-3、BDS-2/BDS-3新旧信号的定位性能和BDS系统不同频点与GPS组合定位性能, 对BDS (B1I+B3I、B1C/B2a)+GPS (L1+L2)组合静态PPP (Precise Point Positioning)定位性能进行分析, 并与单卫星系统对比分析. 试验结果表明: BDS-3 (B1C/B2a)在East (E)、\lk North (N)、Up (U)方向的定位精度优于1.25cm、0.89cm、1.67cm, BDS-3新旧频点在E、N方向上定位精度与GPS L1/L2在同一水平上, U方向上新频点定位精度高于GPS L1/L2和BDS-3旧频点, 较旧频点定位精度提升了34.2%, 新频点收敛时间25.9min比旧频点提升了12.7%; 相较于BDS、GPS单系统, 组合系统BDS/GPS定位精度和收敛时间有了明显的提高, BDS-3 (B1C/B2a)+GPS在E、N方向上与BDS-3 (B1I/B3I)+GPS定位精度相当, 在U方向上定位精度前者较后者有了明显的提升, 提升了17.2%, 组合系统新频点收敛时间20.1min比旧频点提升了17.6%.     

附有周期项的预报模型及其在GPS卫星钟差预报中的应用研究

为了有效进行GPS卫星钟差预报和更好地反映卫星钟差特性,除了考虑卫星原子钟频移、频漂和频漂率等物理性质外,还应考虑到卫星钟差的周期性变化特点.在二次多项式模型基础上,增加了周期项因素,构造了新的预报模型.选取部分GPS卫星铯钟(Cs.clock)和铷钟(Rb.clock)钟差资料,根据钟差变化趋势分3种情况,按不同时间长度进行钟差预报分析,并与二次多项式模型的预报结果比较分析,大量数据分析表明:附有周期项的二次多项式模型预报精度优于二次多项式模型,铷钟预报精度略优于铯钟.     

嵌入式GPS/DR车载组合导航系统EKF算法软件设计

介绍一种嵌入式GPS／DR（全球定位系统／航位推算）车载组合导航（它通过GPS与DR的优势互补,提高了车辆导航系统定位数据的可靠性）的EKF（扩展卡尔曼滤波）算法软件设计方法。采用统计学原理剔除导航数据的粗差点,用扩展卡尔曼滤波进行导航参数的实时求解,采用EKF算法的GPS／DR组合导航系统有利于导航信息的稳定性、可靠性和实时性。     

利用非差资料的精密点定位方案

单站精密定位 (PrecisePointPositioning ,以下简称PPP)是在同时固定GPS精密星历和卫星钟的前提下 ,利用载波相位和伪距资料进行单台站的精密点定位 .采用该方法时不同台站之间不存在共同的待估参数 ,即各台站互不相关 ,这一特点大大降低了计算量 .采用美国喷气推进实验室JPL发展的数据处理软件GIPSY处理APSG联测资料 ,计算表明PPP的重复率相当于目前国内普遍采用的双差解算结果 .采用较好保持地面网构型的无基准算法 ,计算表明通过Helmert参考系转换后 ,PPP的解算结果与双差算法的外符精度大致相当 .解算表明 ,采用PPP处理 1 0 0个台站约需 3 .5小时 ,而处理同样的资料采用双差算法则需 1 8～2 0小时 .对于我国即将建成的大科学工程或地震监测的多达 2 0 0 0个接收机的GPS网而言 ,在保持精度前提下的节省计算资源和计算时间的PPP解算方案值得广泛的应用     

基于岭估计的快速静态精密单点定位研究

精密单点定位可以实现厘米级的定位精度,但其实时应用受到模糊度收敛时间的限制,模糊度收敛一般需要30分钟甚至更长的时间.基于相位历元间差分技术,可以避免模糊度的求解,但求解的参数为历元间坐标差.在相位历元间差分技术基础之上,推导了无模糊度模型的快速静态单点定位模型,并通过岭估计理论来进行参数的求解,两个以上历元就可以解算得到位置参数,从而实现静态状态下单点的快速定位,克服了模糊度收敛时间的局限,并讨论了不同坐标初值情况下估计值的精度.     

导航卫星精密定轨与时间同步技术进展

全球卫星导航系统(Global Navigation Satellite System, GNSS)通过播发卫星钟差和精密轨道信息实现时间和空间基准信息向导航用户的传递.随着高精度原子钟等导航卫星载荷、星间链路等天基/地基监测手段以及数据处理方法等技术的不断更新,卫星轨道和钟差产品的精度和实时性也逐步提升. 2018年12月,北斗三号卫星导航系统正式开通,为"一带一路"国家提供实时高精度、高可靠的基本导航定位服务.综述了北斗导航系统从北斗二号区域系统到北斗三号全球系统精密定轨与时间同步处理面临的困难和挑战,针对上述问题,阐述了北斗运行控制系统的解决途径和实现指标.与GPS等其他GNSS系统进行比较,分析了不同导航系统技术特点.最后展望了精密定轨与时间同步技术未来的发展路线图,为更高精度的GNSS导航定位授时服务提供参考.     

Status of Satellite Orbit Determination and Time Synchronization Technology for Global Navigation Satellite System

In the form of satellite ephemerides and clock parameters, the information of space datum and system time of one global navigation satellite system (GNSS) is transferred to users. With continuously updating of satellite payload such as high precision atomic clocks, monitoring and tracking techniques such as inter-satellite links, and data processing techniques, the accuracy and real-time performance of satellite ephemerides and clock products are steadily improved. Starting from December 27th, 2018, BeiDou Navigation System 3, or BDS-3 has been providing accurate and reliable basic positioning, navigation, and timing (PNT) services to users in the countries within the “one belt and one road”. This paper summarizes the challenges of precise orbit determination and time synchronization faced and specific solutions sought from the regional BDS-2 system to BDS-3 global system at the control segment. It is interesting to compare BDS with other GNSS systems in terms of technical characteristics. Finally, aiming at higher accuracy and more reliable PNT services, a road map of precise orbit determination and time synchronization technique for next generation navigation systems is discussed, which will lead to better and better global navigation satellite systems.     

Communication-based positioning systems:past,present and prospects

This paper reviews positioning systems in the context of communication systems.First,the basic positioning technique is described for location based service(LBS) in mobile communication systems.Then the high integrity global positioning system(iGPS) is introduced in terms of aspects of what it is and how the low Earth orbit(LEO) Iridium telecommunication satellites enhance the global positioning system(GPS).Emphasis is on the Chinese Area Positioning System(CAPS) which is mainly based on commercial geostationary(GEO) communication satellites,including decommissioned GEO and inclined geosynchronous communication satellites.Characterized by its low cost,high flexibility,wide-area coverage and ample frequency resources,a distinctive feature of CAPS is that its navigation messages are generated on the ground,then uploaded to and forwarded by the communication satellites.Fundamental principles and key technologies applied in the construction of CAPS are presented in detail from the CAPS validation phase to its experimental system setup.A prospective view of CAPS has concluded it to be a seamless,high accuracy,large capacity navigation and communication system which can be achieved by expanding it world wide and enhancing it with LEO satellites and mobile base stations.Hence,this system is a potential candidate for the next generation of radio navigation after GPS.     

Integer‐ambiguity resolution in astronomy and geodesy

Recent theoretical developments in astronomical aperture synthesis have revealed the existence of integer‐ambiguity prob‐lems. Those problems, which appear in the self‐calibration procedures of radio imaging, have been shown to be similar to the nearest‐lattice point (NLP) problems encountered in high‐precision geodetic positioning and in global navigation satellite systems. In this paper we analyse the theoretical aspects of the matter and propose new methods for solving those NLP problems. The related optimization aspects concern both the preconditioning stage, and the discrete‐search stage in which the integer ambiguities are finally fixed. Our algorithms, which are described in an explicit manner, can easily be implemented. They lead to substantial gains in the processing time of both stages. Their efficiency was shown via intensive numerical tests. (© 2014 WILEY‐VCH Verlag GmbH & Co. KGaA, Weinheim)     

An Improved Grey Model and Its Application Research on the Prediction of Real-time GPS Satellite Clock Errors

In the work on the real-time GPS precise point positioning, the realtime and reliable prediction of the satellite clock error is one of the keys to the realization of the GPS real-time high accuracy point positioning. The satelliteborne GPS atomic clock has high frequency, is very sensitive and extremely easy to be influenced by the outside world and its own factors. Therefore, it is very difficult for one to know well its complicated and detailed law of change, with these attributes being in accordance with the characteristics of the theory of grey system. Thus, it is considered that the process of variation of the clock error is regarded as a grey system. On the basis of the exploration of the limitations of the quadratic polynomial and grey model satellite clock error predictions, the research on the real-time prediction of the GPS satellite clock error by taking advantage of the improved grey model is proposed. Finally, the materials of the GPS satellite clock error of 3 different time intervals are used to make the accuracy analysis of the clock error prediction of different sampling intervals, to study the relation between the grey model exponential coefficient and the prediction accuracy and to make the analysis of the comparison of the prediction accuracy with that of the quadratic polynomial method. The general relation between the different types of satellite clock errors and the model exponential coefficients is summarized and compared with the IGS final clock error ephemeris product to test and verify the feasibility and availability of the improved prediction model proposed in the present article so as to provide the higher-accuracy satellite clock error products for the real-time GPS dynamic precise point positioning.     

大气指数模型与探空资料分析的比较─关于广州地区大气层对GPS信号时间延迟问题研究之一

ＧＰＳ系统是现阶段功能最全、精度最高的卫星导航系统，大气层对ＧＰＳ系统定位和定时的影响已成为一个不可忽略的重要因素．本文从广州地区两天各两个时刻的气象探空资料中分析了各个时刻高空中几个已知高度点的折射指数，然后用线性处理的办法得到了１７ｋｍ范围左右高空中折射指数的模型，大气指数模型与此模型相比较，几个点折射指数的均方差很小，最后用这两种模型分别计算两天各两个时刻大气层对ＧＰＳ信号在垂直传播时所引起的附加时间延迟，二者之差最大不大于０．３ｎｓ，用指数模型可基本反映广州地区大气层对ＧＰＳ信号传播时间延迟的影响。     

用于JATC远程时间比对的双频GPS接收机

中国科学院国家授时中心为“我国综合原子时（JATC）建立与保持的研究”项目研制的双频多通道GPS时间传递接收机NTSCGPS-2，不仅具有远程时间比对的功能，还增加了我国综合原子时需要的本地钟比对功能和精密定位功能。在不增加其它比对设备的情况下，满足JATC项目对远程时间比对的要求。NTSCGPS-2具有如下性能特点：（1）采用双频观测，可实测电离层时延；（2）远程（西安-上海、西安-澳门）时间比对精度达到2ns；（3）具有本地钟间的比对功能，在正常共视观测的同时，还可进行2个本地钟间的比对；（4）具有精密定位功能，相对定位精度为5cm。     

Status of Satellite Orbit Determination and Time Synchronization Technology for Global Navigation Satellite Systems

In the form of satellite ephemerides and clock parameters, the space datum and system time information of one global navigation satellite system (GNSS) is transferred to users. With the continuous updating in the satellite payload such as the high-precision atomic clock, the monitoring and tracking technique such as the inter-satellite link, and in the data processing technique, the accuracy and real-time performance of the satellite ephemeris and clock error products are steadily improved. Starting from December 27th, 2018, the BeiDou Navigation System 3, or BDS-3, has provided the accurate and reliable basic positioning, navigation, and timing (PNT) service for the users in the countries within the “one belt and one road”. This paper has summarized the faced challenges of the precise orbit determination and time synchronization from the regional BDS-2 system to the BDS-3 global system, and the specific solutions at the control segment. In addition, this paper has compared the BDS with other GNSS systems in terms of technical characteristics. Finally, aiming at a higher accuracy and more reliable PNT service, the road map of precise orbit determination and time synchronization technique for the next generation navigation systems is discussed, which will provide a reference for developing the global navigation satellite systems with an even higher accuracy.     

卫星导航定位系统中伪随机码的研究

伪随机码在扩频通信中得到广泛应用。目前的卫星导航定位系统大多采用扩频通信技术来传输导航信息 ,常用的伪随机码是平衡Gold码。对平衡Gold码的特性和产生方法作了研究 ,对全球定位系统 (GPS)粗码的平衡性作了分析 ,最后给出了在SystemView平台上相应的仿真结果。此研究对开展相关领域的研究工作具有借鉴意义     

GPS系统时间及其与其他时间的关系

指出不同授时规范对“GPS系统时间”定义、解释的差异,给出比较清楚和综合的“GPS系统时间”理解,这会有益于北斗系统和GPS系统组合PNT（定位、导航、授时）应用标准化。     

时间比对融合算法分析与比较

为提升高精度时间比对的可靠性, 结合卫星双向时间比对(Two-Way Satellite Time and Frequency Transfer, TWSTFT)和GPS精密单点定位(Precise Point Positioning, PPP)时间比对长短稳特性, 利用稳定度加权、Vondrák-\vCepek组合滤波以及 Kalman滤波融合方法对中国科学院国家授时中心(National Time Service Center, NTSC)和德国物理技术研究院(Physikalisch-Technische Bundesanstalt, PTB)间的TW-STFT和GPS PPP时间比对结果进行了融合处理并对3者进行了比较分析. 结果表明, 3种融合算法对于TWSTFT中的周日效应以及GPS PPP结果的``天跳''现象都有不同程度的改善, 融合结果与GPS PPP链路差值(Double Clock Difference, DCD)结果的绝对值保持在链路校准的不确定度范围内. 3者1d的时间和频率稳定度可以达到亚纳秒和10^-15量级, Vondrák-\vCepek融合方法1d以内的稳定度最高, 适用于对短稳要求高的时间比对链路的融合. 稳定度加权、Kalman滤波融合保真度较好, 适用于对准确度要求高的时间比对链路融合.     

Evaluation of the Precision of Three Tropospheric Delay Correction Models

Using the annual GPS observational tropospheric zenith delay data and meteorological data obtained at 36 globally distributed IGS stations in 2003, we have estimated the accuracy and range of application of two often-used models of tropospheric delay correction (the Hopfield and Saastamoinen models), and of a more recent model (the EGNOS model). We point out some defects in the Hopfield model and show that the EGNOS model can be used as the correction model of the tropospheric zenith delay for the GNSS real-time positioning and navigation.     

TV system for navigation and guidance

A TV system for navigation and guidance (TVSNG) has been designed for solving the navigation and scientific tasks of the Phobos-Grunt mission. It consists of two narrow-angle and two wide-angle television cameras. Each camera has a built-in processor for the real-time processing of received images. The program of TVSNG observations includes three modes: Imaging of Stars, Sequential Imaging, and Landing. The first two modes will be used to calibrate the TVSNG against the stars, to take images of Phobos and Mars, and to detect the dust rings of Mars. In the Landing mode, the height and velocity components of the spacecraft during the landing on Phobos will be measured, and an autonomous selection of the landing site will be made.