北斗二代导航卫星系统地壳运动监测能力

为了评估北斗卫星导航系统（BeiDou navigation satellite system, BDS）监测中国大陆地区地壳变形的技术能力,利用GAMIT/GLOBK软件处理了2017—2019年中国大陆构造环境监测网络23个基准站的全球定位系统（global positioning system, GPS）与BDS-2双模观测数据。结果显示,北斗二代的水平和垂向单日测站定位精度分别约为5~7 mm和13 mm,基线相对定位精度水平分量达到3~4 mm+（1~2）×10-8,水平位移速度测定精度约为0.6 mm/a。北斗二代的精密定位水平大致与20世纪90年代初GPS相当,可用于测定大尺度的板块运动及板内变形,但受卫星星座和定轨精度限制,不能准确反映季节性变动状态。作为对现有GPS监测的补充,可将基准站3年尺度的地壳运动监测精度最多提高20%。     

The value of ocean reflections of GPS signals to enhance satellite altimetry: data distribution and error analysis

The time and space distribution of general reflection altimetry from two satellites (senders and receivers) via the the oceans surface is examined with specific reference to GPS senders and two current receiving satellites. While a considerable enhancement of conventional altimeter coverage is possible in all configurations if the reflection signals can be used, repeating passes of these (with GPS senders) having reasonably small cycle times (days to tens of days) occur only if the receiving orbit is nearly polar. Results of an analysis of the fundamental geometry show that over a large range of reflection angles the error of recovered sea heights depends almost entirely on the errors in the delay signal and the radial error of the receiving satellite (using current estimates of GPS orbit accuracies). The most critical element is the precision of the delay measurement. Both it and the accuracy of the receiving orbit should be below the decimeter level for the technique to achieve its full potential.     

The spherical horizontal and spherical vertical boundary value problem – vertical deflections and geoidal undulations – the completed Meissl diagram

 In a comparison of the solution of the spherical horizontal and vertical boundary value problems of physical geodesy it is aimed to construct downward continuation operators for vertical deflections (surface gradient of the incremental gravitational potential) and for gravity disturbances (vertical derivative of the incremental gravitational potential) from points on the Earth's topographic surface or of the three-dimensional (3-D) Euclidean space nearby down to the international reference sphere (IRS). First the horizontal and vertical components of the gravity vector, namely spherical vertical deflections and spherical gravity disturbances, are set up. Second, the horizontal and vertical boundary value problem in spherical gravity and geometry space is considered. The incremental gravity vector is represented in terms of vector spherical harmonics. The solution of horizontal spherical boundary problem in terms of the horizontal vector-valued Green function converts vertical deflections given on the IRS to the incremental gravitational potential external in the 3-D Euclidean space. The horizontal Green functions specialized to evaluation and source points on the IRS coincide with the Stokes kernel for vertical deflections. Third, the vertical spherical boundary value problem is solved in terms of the vertical scalar-valued Green function. Fourth, the operators for upward continuation of vertical deflections given on the IRS to vertical deflections in its external 3-D Euclidean space are constructed. Fifth, the operators for upward continuation of incremental gravity given on the IRS to incremental gravity to the external 3-D Euclidean space are generated. Finally, Meissl-type diagrams for upward continuation and regularized downward continuation of horizontal and vertical gravity data, namely vertical deflection and incremental gravity, are produced. Received: 10 May 2000 / Accepted: 26 February 2001     

SBAS orbit and satellite clock corrections for precise point positioning

The quality of real-time GPS positions based on the method of precise point positioning (PPP) heavily depends on the availability and accuracy of GPS satellite orbits and satellite clock corrections. Satellite-based augmentation systems (SBAS) provide such corrections but they are actually intended to be used for wide area differential GPS with positioning results on the 1-m accuracy level. Nevertheless, carrier phase-based PPP is able to achieve much more accurate results with the same correction values. We applied SBAS corrections for dual-frequency PPP and compared the results with PPP obtained using other real-time correction data streams, for example, the GPS broadcast message and precise corrections from the French Centre National d’Etudes Spatiales and the German Deutsches Zentrum für Luft- und Raumfahrt. Among the three existing SBAS, the best results were achieved for the North American wide area augmentation system (WAAS): horizontal and vertical position accuracies were considerably smaller than 10 cm for static 24-h observation data sets and smaller than 30 cm for epoch-by-epoch solutions with 2 h of continuous observations. The European geostationary navigation overlay service and the Japanese multi-functional satellite augmentation system yield positioning results with biases of several tens of centimeters and variations larger by factors of 2–4 as compared to WAAS.     

Modeling tropospheric wet delays with national GNSS reference network in China for BeiDou precise point positioning

During past decades, precise point positioning (PPP) has been proven to be a well-known positioning technique for centimeter or decimeter level accuracy. However, it needs long convergence time to get high-accuracy positioning, which limits the prospects of PPP, especially in real-time applications. It is expected that the PPP convergence time can be reduced by introducing high-quality external information, such as ionospheric or tropospheric corrections. In this study, several methods for tropospheric wet delays modeling over wide areas are investigated. A new, improved model is developed, applicable in real-time applications in China. Based on the GPT2w model, a modified parameter of zenith wet delay exponential decay wrt. height is introduced in the modeling of the real-time tropospheric delay. The accuracy of this tropospheric model and GPT2w model in different seasons is evaluated with cross-validation, the root mean square of the zenith troposphere delay (ZTD) is 1.2 and 3.6 cm on average, respectively. On the other hand, this new model proves to be better than the tropospheric modeling based on water-vapor scale height; it can accurately express tropospheric delays up to 10 km altitude, which potentially has benefits in many real-time applications. With the high-accuracy ZTD model, the augmented PPP convergence performance for BeiDou navigation satellite system (BDS) and GPS is evaluated. It shows that the contribution of the high-quality ZTD model on PPP convergence performance has relation with the constellation geometry. As BDS constellation geometry is poorer than GPS, the improvement for BDS PPP is more significant than that for GPS PPP. Compared with standard real-time PPP, the convergence time is reduced by 2–7 and 20–50% for the augmented BDS PPP, while GPS PPP only improves about 6 and 18% (on average), in horizontal and vertical directions, respectively. When GPS and BDS are combined, the geometry is greatly improved, which is good enough to get a reliable PPP solution, the augmentation PPP improves insignificantly comparing with standard PPP.     

谷歌Nexus 9智能终端原始GNSS观测值的质量分析

从信噪比、伪距残差、相位残差等方面对开阔环境下的静态谷歌Nexus 9智能平板终端的原始全球导航卫星系统（Global Navigation Satellite System,GNSS）观测数据质量进行了分析评估,结果表明,Nexus 9平板的全球定位系统（Global Positioning System,GPS）、GLONASS观测值的信噪比比测量型接收机低10 dBHz左右;伪距精度分别为5.43 m、11.39 m,相位精度分别为4.44 mm、4.99 mm;相对于高度角来说,信噪比与伪距残差的相关性更强,更能反映观测数据的质量。在此基础上给出了信噪比定权的随机模型,并进行了开阔环境下的伪距单点定位测试。实验结果表明,基于信噪比定权的单点定位平面精度为2.74 m,高程精度为4.56m,比高度角定权精度提高了约26%。     

Monitoring selective availability dither frequencies and their effect on GPS data

Summary The signals transmitted by Block II satellites of the Global Positioning System (GPS) can be degraded to limit the highest accuracy of the system (10 m or better point positioning) to authorized users. This mode of degraded operation is called Selective Availability (S/A). S/A involves the degradation in the quality of broadcast orbits and satellite clock dithering. We monitored the dithered satellite oscillator and investigated the effect of this clock dithering on high accuracy relative positioning. The effect was studied over short 3-meter and zero-baselines with two GPS receivers. The equivalent S/A effects for baselines ranging from 0 to >10,000 km can be examined with short test baselines if the receiver clocks are deliberately mis-synchronized by a known and varying amount. Our results show that the maximum effect of satellite clock dithering on GPS double difference phase residuals grows as a function of the clock synchronization error according to: S/A _effect =0.04 cm/msec, and it increases as a function of baseline length like: S/A _effect =0.014 cm/100 km. These are equations for maximum observed values of post-fit residuals due to S/A. The effect on GPS baselines is likely to be smaller than the 0.14 mm for a baseline separation of 100 km. We therefore conclude, for our limited data set, and for the level of S/A during our tests, that S/A clock dithering has negligible effect on all terrestrial GPS baselines if double difference processing techniques are employed and if the GPS receivers remain synchronized to better than 10 msec. S/A may constitute a problem, however, if accurate point processing is required, or if GPS receivers are not synchronized. We suggest and test two different methods to monitor satellite frequency offsets due to S/A. S/A modulates GPS carrier frequencies in the range of-2 Hz to +2 Hz over time periods of several minutes. The methods used in this paper to measure the satellite clock dither could be applied by the civilian GPS community to continuously monitor S/A clock dithering. The monitored frequencies may aid high accuracy point positioning applications in a postprocessing mode (Malys and Ortiz 1989), and differential GPS with poorly synchronized receivers (Feigl et al. 1991).     

低轨卫星增强载波相位差分定位

针对低轨卫星快速空间几何变化和抗干扰能力强等特征,该文基于卫星工具包软件对全球导航定位系统和铱星系统星座进行了仿真,并假定铱星具有导航卫星的功能,分析铱星对GPS定位的增强作用。首先对GPS和铱星增强星座的可见卫星数量和几何精度因子值进行了分析,然后通过对不同的误差值建模,对GPS系统和铱星系统的观测值进行了仿真,分析了低轨卫星对双差定位浮点解和模糊度固定的增强作用,结果表明:低轨卫星的加入增加了可见卫星数量,几何精度因子也优于单GPS系统。单频双差模糊度浮点解的RMS值优于1周,双频双差模糊度浮点解的RMS值优于0.5周,与单GPS相比有了较明显的提高,同时,低轨卫星的加入更有利于单频短基线的模糊度固定。     

The Iceland 1986 GPS geodetic survey: tectonic goals and data processing results

Summary The 1986 GPS survey of Iceland aimed to: (1) establish geodetic control in the South Iceland Seismic Zone (SISZ), to study destructive earthquakes there, (2) measure a country-wide network to form the basis of a new first order national network. 51 points were surveyed, with 20–30 km spacings within the SISZ and 100 km spacings elsewhere. The data were processed using the Bernese GPS software Version 3. Analysis was difficult due to poor satellite geometry and short-period ionospheric variations. However, an ambiguity-fixed, ionosphere-free solution gave accuracies of 1–2 cm in the horizontal and 2–3 cm in the vertical for the SISZ network and an ambiguity-free, ionosphere-free solution yielded accuracies of about 5 cm for the country-wide network. An ionosphere-free solution for the total survey with ambiguities fixed for the SISZ network only gave marginal additional improvements over the two separate solutions. GPS surveying has continued annually in Iceland with measurements in South Iceland in 1989 and 1992 (Hackman 1991; Sigmundsson 1992) and in North Iceland in 1987, 1990 and 1992 (Jahn et al. 1992; Foulger et al. 1992).     

A grid-based tropospheric product for China using a GNSS network

Tropospheric delay accounts for one source of error in global navigation satellite systems (GNSS). To better characterize the tropospheric delays in the temporal and spatial domain and facilitate the safety-critical use of GNSS across China, a method is proposed to generate a grid-based tropospheric product (GTP) using the GNSS network with an empirical tropospheric model, known as IGGtrop. The prototype system generates the GTPs in post-processing and real-time modes and is based on the undifferenced and uncombined precise point positioning (UU-PPP) technique. GTPs are constructed for a grid form (\(2.0{^{\circ }}\times 2.5{^{\circ }}\) latitude–longitude) over China with a time resolution of 5 min. The real-time GTP messages are encoded in a self-defined RTCM3 format and broadcast to users using NTRIP (networked transport of RTCM via internet protocol), which enables efficient and safe transmission to real-time users. Our approach for GTP generation consists of three sequential steps. In the first step, GNSS-derived zenith tropospheric delays (ZTDs) for a network of GNSS stations are estimated using UU-PPP. In the second step, vertical adjustments for the GNSS-derived ZTDs are applied to address the height differences between the GNSS stations and grid points. The ZTD height corrections are provided by the IGGtrop model. Finally, an inverse distance weighting method is used to interpolate the GNSS-derived ZTDs from the surrounding GNSS stations to the location of the grid point. A total of 210 global positioning system (GPS) stations from the crustal movement observation network of China are used to generate the GTPs in both post-processing and real-time modes. The accuracies of the GTPs are assessed against with ERA-Interim-derived ZTDs and the GPS-derived ZTDs at 12 test GPS stations, respectively. The results show that the post-processing and real-time GTPs can provide the ZTDs with accuracies of 1.4 and 1.8 cm, respectively. We also apply the GTPs in real-time kinematic GPS PPP, and the results show that the convergence time of the PPP solutions is shortened. These results confirm that the GTPs can act as an efficient information source to augment GNSS positioning over China.     

BDS/GPS精密单点定位收敛时间与定位精度的比较

采用武汉大学卫星导航定位技术研究中心发布的北斗精密卫星轨道和钟差,在TriP 2.0软件的基础上实现了BDS PPP定位算法,并利用大量实测数据进行了BDS/GPS静态PPP和动态PPP浮点解试验。结果表明,BDS静态PPP的收敛时间约为80min,动态PPP的收敛时间为100min;对于3h的观测数据,静态PPP收敛后定位精度优于5cm,动态PPP收敛后水平方向优于8cm,高程方向约12cm;与GPS PPP类似,东分量上定位精度较北分量稍差。当前由于BDS的全球跟踪站有限,精密轨道和钟差精度不如GPS,因此BDS PPP的收敛时间较GPS长,但收敛后可实现厘米至分米级的绝对定位。     

SBAS星历改正数及UDRE参数生成算法分析

星基增强系统(satellite based augmentation system,SBAS)通过地球同步轨道卫星实时播发导航卫星星历改正数和完好性参数,以提升用户定位精度和完好性.采用最小方差法解算GPS星历改正数,利用卡方统计进行改正数完好性检核,并依据星历改正数方差-协方差信息计算SBAS用户差分距离误差(us...     

An experimental performance analysis of real-time kinematic positioning with NASA’s Internet-Based Global Differential GPS

The Global Differential GPS (GDGPS) system developed by JPL aims at seamless global real-time positioning at the dm accuracy level for dual-frequency receivers either fixed or mobile, anywhere and at any time. The GDGPS system relies on GPS data transmitted in real-time to a central processing center at JPL from a global network of permanently operating GPS dual-frequency receivers. At the processing center, the Internet-based Global Differential GPS (IGDG) system, the heart of JPLs GDGPS, generates and disseminates over the open Internet special 1-s global differential corrections (IGDG corrections) to the GPS broadcast ephemerides. The IGDG corrections enhance the accuracy of GPS broadcast orbits and clocks down to the dm level and serve as the key-factor for high-precise real-time positioning of a stand-alone receiver. An experimental verification of the dm positional accuracy of the IGDG system was carried out in the Netherlands, by means of both a static and a kinematic test. During the static test GPS data were collected for 5 consecutive days using a fixed immobile receiver and processed as if in real-time. Within the framework of the kinematic test, an experiment was carried out using a kinematic platform. Our tests confirmed the dm accuracy of stand-alone receiver positioning with IGDG. The standard deviation for positioning both in static and kinematic mode appears to be 10 cm in each horizontal component and 20 cm in the vertical component. More than 99% of the IGDG corrections were received with the expected 1-s interval in the field via mobile communication, the latency of the corrections was generally from 7 to 8 s.     

全球导航卫星系统的新进展

本文综合介绍了于 2 0 0 4年 9月 2 1日至 2 4日在美国加州举行的“全球导航卫星系统” 2 0 0 4年年会(GNSS2 0 0 4 )会议的主要议题 ,并对其中我们可能关切的方面进行了重点介绍。①美国的GPS连续运行站网(CORS)。CORS由美国大地测量局 (NGS)主持运行。用户可以通过NGS网络 ,获得用户的GPS待定点相邻的CORS站 (三个以上 )的GPS相应载波相位和码距 ,以支持用户的GPS准实时或后处理定位。NGS也可以为用户通过网络提供GPS定位计算服务 ,这一服务可以在用户提供待定点的观测资料后的几个小时内完成 ,称为NGS的在线GPS定位服务。CORS目前在美国已有 5 0 0余个站。②GPS系统的进展。GPSⅡR型卫星从体形和功能方面都比较优秀 ,使GPS卫星在轨的位置误差显著降低 ,测距精度提高近一倍 ,目前GPSⅡR型卫星截止至 2 0 0 4年 1月 1日时有 9颗在轨。③利用L1 ,L2频道的GPS空基增强系统 (WAAS)。在美国大部分地区WAAS系统的水平精度可达 1～ 2m ,垂直精度可达 2～ 3m。④GPS信号的重构。美国已发展了一种高度逼真的和适应各种情况的虚拟GPS信号系统 ,这种虚拟发射装置可以是陆基的 ,空基的 ,或者星基的。GPS接收机可以利用这一虚拟的GPS信号进行精密定位。⑤Galileo卫星导航系统运行的准备工作。欧洲空间局已经重新和?     

北斗系统在南极中山站地区的基本定位性能评估

对北斗区域卫星导航系统（BDS）正式运行后在南极中山站地区的基本导航定位性能进行了评估,包括卫星可用性、位置精度因子（PDOP）、伪距观测值质量、电离层模型精度及单频伪距导航定位性能等方面。对南极中山站地区实测数据分析的结果表明,首先,北斗卫星导航系统的可用性与伪距观测值质量在总体上与GPS处于同一水平,并已初步具备了全天导航定位的能力,但存在卫星分布不够均匀、GEO卫星高度角较低、电离层模型精度较差等问题。其次,北斗单频伪距单点定位北、东方向的精度分别优于22 m和9 m,高程方向优于25 m;超短基线的单频伪距差分定位在北、东、高程三个方向的精度分别为3.6 m、2.3 m和3.3 m;总体而言与GPS相比有一定差距。最后,北斗/GPS组合定位相对于单一的GPS定位不仅增加了系统的可靠性,还对定位的精度有明显改善,对于单频伪距单点定位、伪距差分定位的三维点位精度可分别提高10%、22%。     

Single GPS receiver time-relative positioning with loop misclosure corrections

Time-relative positioning makes use of observations taken at two different epochs and stations with a single global positioning system (GPS) receiver to determine the position of the unknown station with respect to the known station. The limitation of this method is the degradation over time of the positioning accuracy due to the temporal variation of GPS errors (ionospheric delay, satellite clock corrections, satellite ephemerides, and tropospheric delay). The impact of these errors is significantly reduced by adding to the one-way move from the known to the unknown station, a back move to the known station. A loop misclosure is computed from the coordinates obtained at the known station at the beginning and at the end of the loop, and is used to correct the coordinates of the unknown station. The field tests, presented in this paper, show that using the loop misclosure corrections, time-relative positioning accuracy can be improved by about 60% when using single frequency data, and by about 40% with dual frequency data. For a 4-min processing interval (an 8-min loop) and a 95% probability level, errors remain under 20 cm for the horizontal components and 36 cm for the vertical component with single frequency data; and under 11 cm for the horizontal components and 29 cm for the vertical component with dual frequency data.     

Integrated adjustment of CHAMP, GRACE, and GPS data

Various types of observations, such as space-borne Global positioning system (GPS) code and phase data, accelerometer data, K-band range and range-rate data, and ground-based satellite laser ranging data of the CHAllenging Minisatellite Payload (CHAMP) and GRAvity Climate Experiment (GRACE) satellite missions, are used together with ground-based GPS code and phase data in a rigorous adjustment to eventually solve for the ephemerides of the CHAMP, GRACE, and GPS satellites, geocenter variations, and low-degree gravity field parameters. It turns out that this integrated adjustment considerably improves the accuracy of the ephemerides for the high and low satellites, geocenter variations, and gravity field parameters, compared to the case when the adjustment is carried out stepwise or in individual satellite solutions.Acknowledgments. This study has been supported by the German Ministry of Education and Research through the Geotechnologies Programme grants 03F0333A/CHAMP and 03F0326A/GRACE.     

“陆态网”GPS与GRACE的中国大陆地表垂直形变对比分析

基于中国大陆构造环境监测网络的连续GPS观测数据,比较分析了中国大陆234个GPS台站和GRACE得到的地表垂直形变。GPS和GRACE垂直形变具有较好的一致性,反映了地表质量变化是引起GPS垂直形变非线性变化的重要因素之一,但二者也存在着一定的差异。为定量分析GPS和GRACE垂直形变的差异,探讨了热膨胀效应对GPS垂直位移的影响及区域地壳结构对GRACE估算地表垂直负荷形变的影响。结果表明,中国大陆50%以上的GPS台站热膨胀垂直形变周年振幅不小于1 mm;对GPS进行热膨胀效应改正后,中国大陆GPS与GRACE垂直形变具有更好的一致性;GPS与GRACE垂直形变周年振幅比值由1.07±0.06变为1.01±0.05;热膨胀效应可以解释6.2%的GPS与GRACE垂直形变的差异,热膨胀效应改正可使GPS和GRACE垂直形变的一致性相对增加11.2%。是否顾及区域地壳结构引起的GRACE估算中国大陆垂直负荷形变的相对差异为2.5%。     

A comparison of a Hi/Lo GPS constellation with a populated conventional GPS constellation in support of RTK: A covariance analysis

This study makes an initial comparison of three GPS-like constellations. Starting with a simplified constellation of 25 GPS satellites as a reference, GPS(25), we determine what kinematic positioning improvements would result from a constellation comprising a Hi component of 16 GPS satellites (at roughly 16.8 earth radii) coupled with a Lo component of 49 GPS satellites (at roughly 2.1 earth radii). We also include a GPS constellation of 49 GPS satellites, GPS(49), which comprises orbits like the GPS(25) constellation. The GPS(49) and the Hi(16)/Lo(49) constellations have semi-major axes selected so that they have exactly the same average number of satellites above 7.5 degrees elevation (averaged over 24 hours). What motivated this study was a need to measure the benefits, to precision differential kinematic positioning methods (i.e., RTK), which result from the higher Doppler shifts (hence speedier integrated Doppler) generated by the Lo component. Quicker initial convergence was anticipated, of course.     

GPS卫星广播星历轨道误差突变性分析

针对GPS卫星播发的广播星历存在误差突变的问题进行了有关研究。利用切比雪夫多项式,分别以不同的拟合时段计算卫星轨道坐标,然后分别与对应历元的IGS精密星历所提供的GPS卫星的坐标进行比较,发现了某些GPS卫星广播星历轨道误差变化的规律。这对如何削弱广播星历的轨道误差,提高导航与定位精度是十分有益的。