BDS接收机天线相位中心标定

在高精度GNSS定位中,接收机天线相位中心偏差(PCO)和天线相位中心变化(PCV)的影响不可忽略。目前,IGS发布的绝对天线相位模型文件中包含了GPS/GLONASS系统的标定值,但是没有发布北斗系统(BDS)的标定值。本文借助机械臂可以控制天线自由旋转,在数小时内实现全方位GNSS观测的特性,采用历元间差分的方法对接收机天线包括GPS L1/L2和BDSB1I/B2I/B3I等多个频点的PCO和PCV分别进行标定和拟合。标定结果表明,比较最小二乘估计的GPS PCO与IGS发布值,其STD和RMS在L1/L2上均小于1 mm;BDS PCO估计值的STD在B1I/B2I/B3I上分别为0.5、0.3、0.3 mm。利用球谐函数拟合的GPS PCV格网值与IGS发布值相比,其偏差在天顶距小于75°时均小于1.5 mm。BDS PCV拟合值范围均在-5～8 mm,且随天顶距变化曲线呈现波谷状。BDS PCV在低高度角处拟合值波动较大,随方位角变化曲线峰值-峰值最大达到了5.6 mm。     

Estimation of elevation-dependent satellite antenna phase center variations of GPS satellites

A method for the estimation of the phase center variations of GPS satellite antennas using global GPS data is presented. First estimations have shown an encouraging repeatability from day to day and between satellites of the same block. Thus, two different satellite antenna patterns for Block II/IIA and for Block IIR with a range of about 4 cm and an accuracy of less than 1 mm could be found. The present approach allows the creation of a consistent set of receiver and satellite antenna patterns and phase center offsets. Thereby, it is possible to switch from relative to absolute phase center variations without a scale problem in global networks. This changeover has an influence on troposphere parameters, reduces systematic effects due to uncorrect antenna modeling and should diminish the elevation dependence of GPS results. AcknowledgmentsThe authors thank Prof. G. Seeber (University of Hannover) and Dr. G. Wübbena (Geo++ GmbH) and their groups for their kindness in making available the absolute field calibration results derived from robot measurements.     

联合GEO/IGSO/MEO的北斗PPP模糊度固定方法与试验分析

由于北斗地球静止轨道（geostationary earth orbiting,GEO）卫星轨道精度较低且其观测值受多路径误差和伪距偏差影响严重,目前各分析中心尚未针对北斗GEO卫星提供长期稳定的相位小数偏差（uncalibrated phase delay,UPD）产品,北斗精密单点定位（precise point positioning,PPP）模糊度固定技术研究主要针对倾斜轨道（inclined geosynchronous orbiting,IGSO）和中地球轨道（medium earth orbiting,MEO）卫星。本文采用Wanninger和Beer的高度角模型消除了IGSO/MEO观测值伪距偏差,并通过小波变换提取低频分量修正伪距观测值的方法削弱了GEO卫星多路径和伪距偏差的影响。由于窄巷UPD估值受未模型化误差影响较大,本文改进了窄巷UPD估计的策略,该策略利用上一历元成功估计的窄巷UPD对当前历元的浮点模糊度进行改正,剔除了残差较大的浮点模糊度,修正固定错误的整周模糊度,从而提高了窄巷UPD的精度和稳定性。利用估计得到的UPD产品,本文实现了联合GEO、IGSO和MEO卫星的北斗非差PPP模糊度固定,并对其定位性能进行分析。结果表明：联合GEO、IGSO和MEO卫星的PPP固定解的首次固定时间和收敛时间均可以缩短到30 min以内;6 h后的E、N、U方向的定位误差由（1.35、0.35、2.75）cm减少到（1.07、0.26、2.24）cm,分别减少了20%、27%和18%。     

北斗GEO/IGSO/MEO卫星定轨地面站构型影响分析及其优化

GNSS卫星定轨精度主要取决于卫星动力学模型精度和GNSS几何观测信息。由于北斗GEO/IGSO卫星静地、高轨特性,以及力学模型不精确等原因,地面几何观测信息对轨道改进至关重要。本文讨论了北斗GEO/IGSO/MEO卫星定轨地面站分布影响及优化改进方法。在简化动力学定轨模型基础上,探讨多历元几何观测信息累积对轨道的改进;研究了北斗导航卫星定轨理想几何构型条件,得到影响定轨精度的几何因子,包括测站数量、覆盖范围、分布密度;利用离散概率密度方法研究地面站构型,分析了3类卫星轨道改进机理和优化方法。通过算例,讨论了增加5个中国区域基准站改善离散概率密度指标,优化全球北斗卫星定轨构型,发现GEO和IGSO卫星精度改善最为明显,MEO卫星改善最小;其中GEO卫星提高了10%,IGSO卫星提高了16%,MEO卫星提高了4%。     

天线相位中心改正对GPS精密单点定位的影响

GPS卫星与接收机由于自身特性以及机械加工等原因,导致其质量中心与相位中心不重合而产生相位中心误差,进而对GPS精密单点定位产生一定影响。介绍GPS天线相位中心偏移(PCO)、变化(PCV)的原理,并分析PCO、PCV,以及不同模型改正对GPS精密单点定位的影响。结果表明,在GPS精密单点定位中,天线相位中心改正不容忽略:在平面方向上,天线相位中心改正对定位影响较小,仅为毫米级;在高程方向上,天线相位中心改正对定位影响较大,可达厘米级;与相对中心改正模型相比,绝对相位中心改正模型精度更高。     

GEO/IGSO/MEO卫星对北斗伪距差分定位精度的作用分析

分析了GEO/IGSO/MEO 3种卫星在BDS伪距差分定位中对精度的影响,先只添加4颗GEO卫星参与定位,再在4颗GEO卫星均参加定位的条件下,逐次增加一颗高度角最大的IGSO卫星参与定位,最后在4颗GEO卫星和3颗IGSO卫星均参加定位的条件下,逐次增加一颗高度角最大的MEO卫星参与定位。分析3次实验HDOP、VDOP值和定位精度的变化。实验表明,在北斗卫星星座(5GEO+6IGSO+3MEO)条件下,只有GEO卫星参与定位时精度较差,当加入IGSO卫星和MEO卫星时能显著改善空间结构并提高定位精度。     

北斗导航卫星地影状态分析

为满足我国卫星导航系统状态切换中地影时间确定以及卫星轨道确定中太阳辐射压建模等需求,本文针对GEO、IGSO、MEO三类导航卫星,采用柱形与锥形地影模型进行了地影因子及本影区持续时间差异分析。在此基础上以地影期持续天数,本影区持续时间为分析对象,对卫星轨道根数与地影状态之间的关系进行了深入研究。     

北斗IGSO/MEO卫星伪距码偏差精化建模方法研究

北斗倾斜地球同步轨道（inclined geosynchronous orbit,IGSO）卫星和中轨（medium earth orbit,MEO）卫星的伪距码观测值存在系统性偏差,针对该偏差的现有建模方法（两步法）包含模糊度消除策略的误差,提出了一种基于历元间差分的一步建模方法,建立了同类型卫星整体的伪距码偏差三次多项式改正模型,并与现有的离散点改正模型进行对比。同时,针对每颗IGSO/MEO卫星的独特性,利用一步法逐卫星建模并评估其改正效果。结果表明,相对于现有的离散点改正模型,精化模型将IGSO/MEO卫星的Melbourne-Wübbena（MW）值的稳定性平均提高了23.88%,C08卫星的提高幅度最大,约为32.26%。     

Improved antenna phase center models for GLONASS

Thanks to the increasing number of active GLONASS satellites and the increasing number of multi-GNSS tracking stations in the network of the International GNSS Service (IGS), the quality of the GLONASS orbits has become significantly better over the last few years. By the end of 2008, the orbit RMS error had reached a level of 3–4 cm. Nevertheless, the strategy to process GLONASS observations still has deficiencies: one simplification, as applied within the IGS today, is the use of phase center models for receiver antennas for the GLONASS observations, which were derived from GPS measurements only, by ignoring the different frequency range. Geo++ GmbH calibrates GNSS receiver antennas using a robot in the field. This procedure yields now separate corrections for the receiver antenna phase centers for each navigation satellite system, provided its constellation is sufficiently populated. With a limited set of GLONASS calibrations, it is possible to assess the impact of GNSS-specific receiver antenna corrections that are ignored within the IGS so far. The antenna phase center model for the GLONASS satellites was derived in early 2006, when the multi-GNSS tracking network of the IGS was much sparser than it is today. Furthermore, many satellites of the constellation at that time have in the meantime been replaced by the latest generation of GLONASS-M satellites. For that reason, this paper also provides an update and extension of the presently used correction tables for the GLONASS satellite antenna phase centers for the current constellation of GLONASS satellites. The updated GLONASS antenna phase center model helps to improve the orbit quality.     

天线相位中心改正对BDS二代卫星精密定位的影响分析

精确改正卫星端PCO/PCV偏差是实现精密单点定位的重要前提。本文对目前多家分析中心提供的不同的BDS二代卫星端PCO/PCV改正值进行了PPP定位精度评估,评估过程中选取了15个MGEX测站,设计4套方案分别处理了静态PPP和动态PPP。结果表明：①BDS 3类不同结构类型的卫星端PCV改正值在视线距离上引起的误差最大可达10 cm,必须加以改正;②当使用同一分析中心的精密产品和PCO/PCV改正值时,其坐标残差较小、收敛速度较快,收敛后N、E、U 3个方向的坐标定位精度较高;③当使用ESA的精密轨道和钟差进行PPP解算时,整体上的动态定位残差RMS最低,动态定位效果最好,相对于使用IGS的PCO/PCV,其在E、N、U方向提高率分别约为31%、20%和9%。本文对高精度动、静态导航和定位的参数模型选取具有一定的参考价值。     

北斗三号MEO卫星非保守力建模

非保守力模型精度不高是制约BDS-3卫星定轨精度的主要因素之一。本文针对BDS-3 MEO卫星构建了地球辐射、天线辐射和箱体-两翼（BW）太阳光压模型,对典型的经验光压模型（ECOM1和ECOM2）进行补偿得到多个非保守力模型,收集全球观测网的数据进行定轨试验,通过轨道重叠互差和激光测距残差分析比较不同轨道模型的优劣。试验结果表明,经验光压模型是影响轨道精度的主要因素,在名义偏航模式下,ECOM2具有更好的表现,但ECOM1对卫星的姿态模式更不敏感。地球辐射和天线辐射会引起北斗卫星轨道径向约3 cm的系统性偏差,对二者建模后,几乎可以完全消除卫星C29和C30的激光残差系统偏差,但卫星C20和C21的系统偏差反而增大。此外,增加box-wing模型对于提高轨道精度也是有益的。     

Antenna phase center calibration for precise positioning of LEO satellites

Phase center variations of the receiver and transmitter antenna constitute a remaining uncertainty in the high precision orbit determination (POD) of low Earth orbit (LEO) satellites using GPS measurements. Triggered by the adoption of absolute phase patterns in the IGS processing standards, a calibration of the Sensor Systems S67-1575-14 antenna with GFZ choke ring has been conducted that serves as POD antenna on various geodetic satellites such as CHAMP, GRACE and TerraSAR-X. Nominal phase patterns have been obtained with a robotic measurement system in a field campaign and the results were used to assess the impact of receiver antenna phase patterns on the achievable positioning accuracy. Along with this, phase center distortions in the actual spacecraft environment were characterized based on POD carrier phase residuals for the GRACE and TerraSAR-X missions. It is shown that the combined ground and in-flight calibration can improve the carrier phase modeling accuracy to a level of 4 mm which is close to the pure receiver noise. A 3.5 cm (3D rms) consistency of kinematic and reduced dynamic orbit determination solutions is achieved for TerraSAR-X, which presumably reflects the limitations of presently available GPS ephemeris products. The reduced dynamic solutions themselves match the observations of high grade satellite laser ranging stations to 1.5 cm but are potentially affected by cross-track biases at the cm-level. With respect to the GPS based relative navigation of TerraSAR-X/TanDEM-X formation, the in-flight calibration of the antenna phase patterns is considered essential for an accurate modeling of differential carrier phase measurements and a mm level baseline reconstruction.

Orbit and clock analysis of Compass GEO and IGSO satellites

China is currently focussing on the establishment of its own global navigation satellite system called Compass or BeiDou. At present, the Compass constellation provides four usable satellites in geostationary Earth orbit (GEO) and five satellites in inclined geosynchronous orbit (IGSO). Based on a network of six Compass-capable receivers, orbit and clock parameters of these satellites were determined. The orbit consistency is on the 1–2 dm level for the IGSO satellites and on the several decimeter level for the GEO satellites. These values could be confirmed by an independent validation with satellite laser ranging. All Compass clocks show a similar performance but have a slightly lower stability compared to Galileo and the latest generation of GPS satellites. A Compass-only precise point positioning based on the products derived from the six-receiver network provides an accuracy of several centimeters compared to the GPS-only results.     

GPS天线相位中心变化及测试

对GPS天线相位中心随卫星变化的情况及减小和消除天线相位中心误差的方法进行了阐述 ,并详细介绍了对两种型号GPS天线相位中心变化进行比较和测试的结果     

BDS不同轨道卫星精密单点定位性能分析

为了分析北斗不同轨道卫星对定位结果的影响,从而更好地利用我国自主研发的北斗卫星导航系统。该文采用亚太地区7个MGEX测站12d观测数据,进行静态、后处理动态和模拟实时动态3种模式的精密单点定位实验。实验结果表明,在北斗3类轨道卫星等权的情况下,倾斜地球同步轨道(IGSO)卫星对定位结果贡献最大;北斗两类轨道卫星组合中,IGSO+MEO组合定位精度最高,其静态精密单点定位(PPP)在E、N、U方向的RMS分别为0.62、0.39、3.71cm,后处理动态和模拟实时动态PPP的RMS为分米级;北斗各类轨道卫星与GPS组合定位中,GPS+IGSO+MEO组合定位结果收敛速度最快,收敛时间为26.30min。     

Estimation of phase center corrections for GLONASS-M satellite antennas

Driven by the comprehensive modernization of the GLONASS space segment and the increased global availability of GLONASS-capable ground stations, an updated set of satellite-specific antenna phase center corrections for the current GLONASS-M constellation is determined by processing 84 weeks of dual-frequency data collected between January 2008 and August 2009 by a worldwide network of 227 GPS-only and 115 combined GPS/GLONASS tracking stations. The analysis is performed according to a rigorous combined multi-system processing scheme providing full consistency between the GPS and the GLONASS system. The solution is aligned to a realization of the International Terrestrial Reference Frame 2005. The estimated antenna parameters are compared with the model values currently used within the International GNSS Service (IGS). It is shown that the z-offset estimates are on average 7 cm smaller than the corresponding IGS model values and that the block-specific mean value perfectly agrees with the nominal GLONASS-M z-offset provided by the satellite manufacturer. The existence of azimuth-dependent phase center variations is investigated and uncertainties in the horizontal offset estimates due to mathematical correlations and yaw-attitude modeling problems during eclipse seasons are addressed. Finally, it is demonstrated that the orbit quality benefits from the updated GLONASS-M antenna phase center model and that a consistent set of satellite antenna z-offsets for GPS and GLONASS is imperative to obtain consistent GPS- and GLONASS-derived station heights.     

GEO/IGSO/MEO对北斗SPP精度的影响

北斗卫星导航系统混合星座增强了北斗的抗遮挡能力,每种星座卫星对定位精度的影响是目前研究的重点。本文基于北京地区的连续跟踪站BFGY站和ZGDZ站2018年第96天实测数据,采用反向分析法首次分析了GEO/IGSO/MEO对北斗卫星可见数、PDOP值和北斗SPP精度的影响程度,发现每种星座卫星都对北斗卫星可见数有很大的影响,对PDOP值的影响最大达到21;GEO卫星对SPP精度的影响大于IGSO卫星大于MEO卫星。     

北斗系统GEO/IGSO/MEO卫星观测信息随机特性评估与分析

首先从参数估计、精度评定和质量控制角度论证了在精密定位中随机模型的重要性;然后基于短基线单差观测模型,采用严密的方差分量估计方法计算了不同频率、不同卫星的相位和伪距观测值精度,任意频率之间的交叉相关性以及不同频率的相位和伪距观测值在不同时间间隔上的时间相关性;随后分析了随机模型对基线精度和整体检验统计量的影响。结果表明：北斗用户接收机数据精度都与高度角相关,建议采用高度角指数加权函数;北斗二号3个频率相位观测值之间存在不同程度的相关性,其他类型观测值之间的交叉相关性不明显,不同频率的相位和伪距观测值时间相关性较明显,高精度应用中需关注。另外,正确的随机模型计算的基线精度更接近理论精度。本文为用户正确认识北斗系统3个类型卫星观测信息、正确使用北斗系统提供支撑。