一种新的守时型原子钟综合时间尺度方法研究

在这篇文章中, 提出了一种基于改进的指数平滑和Vondrak_Cepek联合平滑的氢铯综合时间尺度产生方法. 以最小误差方法为理论基础, 动态估计氢原子钟频率漂移参数, 提升氢原子钟钟差预测准确度; 基于改进的二次指数平滑产生氢原子钟组时间尺度、加权平均方法产生铯原子钟时间尺度, 同时设计Vondrak_Cepek滤波器以结合两类时间尺度长短期稳定度优势, 提升综合时间尺度性能. 实验结果表明, 所提方法产生的氢铯综合时间尺度时稳可达1.60x10^-15,天稳可达3x10^-15,优于ALGOS、AT1和Kalman滤波3种经典方法产生的时间 尺度性能.     

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。     

GPS近实时共视观测资料处理算法研究

GPS共视资料的高精度快速处理可实现近实时共视时间传递，常见的平滑方法不能满足近实时共视的要求。分析GPS共视资料特点，设计一种卡尔曼滤波算法，对共视资料进行近实时处理，以便削弱观测噪声，估计异地钟差，对相距2000多公里的中国科学院国家授时中心(NTSC)与日本通信综合研究所(CRL)，和相距1000多公里的CRL与韩国计量科学研究院(KRIS)的共视观测资料处理结果表明：卡尔曼滤波算法所得钟差与根据BIPMT公报所得钟差的均方根误差分别优于2．9ns和2．6ns，为进一步提高比对精度，最后对近实时共视应用于多站点间相互比对的情况，提出在卡尔曼滤波算法基础上使用间接观测平差处理技术，根据共视网络中站点间距离设置观测权值，通过解矛盾方程组得到两站钟差，以NTSC、CRL和KRIS3站比对为例，以BIPMT公报得到的钟差为标准，对间接观测平差处理前后的数据比较表明，近实时比对精度可进一步提高。     

A Research on the Pulsar Timing Based on Kalman Filtering

The pulsar is a high-speed rotationing neutron star with a stable rotational period, being not disturbed and destroyed artificially, and can be taken as the reference quantity of the absolute time. In this article a kind of pulsar time service method based on the Kalman filtering algorithm is proposed, and the simulation analysis of the clock error control based on the Kalman filtering and of the effect of the pulsar catalogue error and the measuring accuracy of the pulsar time of arrival (TOA) on the accuracy of time service is made by taking a certain solar synchronous orbit as an example. The result shows that by utilizing this method the clock error of the satellite-borne clock can be effectively eliminated and its time-dependent increase is restrained, thereby solving the problem that the accuracy of the spacecraft-borne low cost clock can not meet the needs.     

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.     

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.     

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.     

Algorithm Analysis of Autonomous Navigation of Spacecraft Based on X-ray Pulsars

A pulsar has the very stable rotation and can be used as the time standard. The astrometric parameters and astrophysical parameters of many pulsars, such as the spatial position, proper motion, distance, rotation period and its derivative, etc., can be all accurately determined. Since the pulsar can provide the time signal and the coordinates of its spatial position simultaneously, the pulsar navigation system installed on a spacecraft enables the autonomous navigation of the spacecraft to be realized. Firstly, the position of the spacecraft is predicted based on the equation of orbit dynamics of the spacecraft and then the Kalman filtering is applied to calculating the estimation error of the spacecraft position through the difference between the pulse arrival time observed on the spacecraft and the predicted pulse arrival time, thereby modifying the position of the spacecraft. Finally, the effects of the initial error, measuring accuracy of the pulse arrival time and number of pulsars on the navigation accuracy are analyzed.     

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.     

Research on the Methods of Performance Monitoring and Evaluation for Active Hydrogen Maserstwo

Active hydrogen maser is the main frequency standard for establishing and maintaining the time scale. It has the characteristics of high short-term stability and low phase noise. At present, it plays an increasingly important role in the international atomic time (TAI) and various local time scales. Firstly, in combination with the internal state parameters of an active hydrogen maser, the correlation between the internal state parameters and the comparison data of a hydrogen maser is analyzed, and a method for the performance monitoring of a hydrogen maser is proposed. Secondly, according to the characteristics of hydrogen maser performance, a method for evaluating the performance of a hydrogen maser is given. The hydrogen maser performance includes mainly two aspects, namely the frequency stability and predictability. The performances of two types of active hydrogen masers (CH1-75 and MHM-2010) are evaluated by this method. The correlation analysis of the atomic clock state parameters and comparison data shows that the state parameter monitoring can effectively predict the variation of the hydrogen maser performance. The evaluation results of atomic clock frequency stability and predictability show that the atomic clock with a higher medium-and-long term frequency stability has a better predictability. There are two methods for the predictability evaluation, one is based on the data published by BIPM (Bureau International des Poids et Measures), and another one is based on the quadratic model. Both methods are consistent with the weights published by BIPM. Therefore, the two methods can be used as a quantitative method to evaluate the predictability of a hydrogen maser.     

Navigating to the Moon along low-energy transfers

This paper presents a navigation strategy to fly to the Moon along a Weak Stability Boundary transfer trajectory. A particular strategy is devised to ensure capture into an uncontrolled relatively stable orbit at the Moon. Both uncertainty in the orbit determination process and in the control of the thrust vector are included in the navigation analysis. The orbit determination process is based on the definition of an optimal filtering technique that is able to meet accuracy requirements at an acceptable computational cost. Three sequential filtering techniques are analysed: an extended Kalman filter, an unscented Kalman filter and a Kalman filter based on high order expansions. The analysis shows that only the unscented Kalman filter meets the accuracy requirements at an acceptable computational cost. This paper demonstrates lunar weak capture for all trajectories within a capture corridor defined by all the trajectories in the neighbourhood of the nominal one, in state space. A minimum Δv strategy is presented to extend the lifetime of the spacecraft around the Moon. The orbit determination and navigation strategies are applied to the case of the European Student Moon Orbiter.     

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.     

网络技术在时间服务工作中的应用

主要介绍网络技术在授时中心守时实验室的守时及授时服务系统中的应用情况。守时系统是一种需要连续、可靠运转的复杂系统，包括守时钟组、比对测量系统、原子时归算等多个环节。原子时专用局域网是守时系统的一个重要的组成部分，它有效地提高了守时、原子时及相关数据资料的传递和交换速率。时间服务的网络化、自动化不仅有效提高了工作效率，减少了人工过多干预造成的误差，更重要的是可以提高守时系统的可靠性和合理性。章详细介绍原子时局域网络（ATLAN）系统和计算机网络授时系统的设计情况。     

一种转发式卫星授时新方法

为了减少对GPS提供的高精度授时服务的依赖,建设拥有自主知识产权的且具有投入成本低、精度高的授时系统。提出了一种利用地面高稳定度原子钟作为时频基准,通过通信卫星转发实现卫星广播授时的新方法。详细研究了利用地面高稳定度原子钟和通信卫星组成的导航星座进行多星授时、单星授时的原理和测量方法,分析研究了影响授时精度的原因。由于转发式卫星授时系统的时频基准源稳定度高,其测距精度也会相应的提高。只要精确扣除时延误差,同样可以实现高精度授时。粗码的授时精度可达20ns以内,短精码的授时精度可达10ns左右。总之该系统具有组建灵活简便、应用面广等优势和特色。     

原子时的小波分解算法

时间尺度的就是根据一组原子钟的数据,用统计的方法计算出平均的时间尺度。其目的是使综合时间尺度的噪声最小。一般的原子时算有脱离经典加权的局限性,只能抑制原子钟的栽一种噪声。运用小波分解的方法建立以分解原子时,将原子信号在小汉域按频率尺度分解原,然后在不同频率范围加权,这种方法不但考虑不同原子钟在同一个频率分量的不同稳定度,而且考虑不同频率分量的不同稳定度,它有着独特的优越性。     

守时系统故障实时诊断

对守时系统故障诊断的基本思想作了阐述,重点介绍了基于VB 6.0开发的守时系统故障自检软件,该软件具有可视化、自动化、智能化等特点.采用类似示波器的图形绘制方法,可以实时显示国家授时中心(NTSC)的时间基准实验室中各钟、授时部工作钟和BPL长波授时信号与NTSC主钟(MC)的比对结果的数据曲线,并对守时系统出现的各种故障,代替维护人员完成异常分析、故障诊断和故障定位任务,自动给出实时的诊断结果,为守时系统故障的快速修复提供依据.     

北斗星地双向时频传递与广广播钟差精度分析

与其他卫星导航系统不同,北斗卫星导航系统采用星地双向时间比对技术,直接测量卫星钟相对于地面保持的系统时间的钟差,并用于广播电文钟差参数的建模。讨论了电离层延迟误差、卫星相位中心误差等不同误差源对不同类型卫星双向时间同步卫星钟差精度的影响。实测数据分析结果表明,星地双向卫星钟差内符合精度(RMS)优于0.15 ns。利用双向卫星钟差序列,对广播星历钟差参数预报精度进行了分析,统计结果显示广播电文钟差参数预报1 h,精度在2 ns以内,移动卫星刚入境时,钟差参数预报6 h误差可达10 ns。     

原子钟噪声的蒙特卡络模拟方法

讨论了原子钟噪声的蒙特卡络模拟方法．具体过程是：先产生模拟所需的正态分布随机数，从实际钟的阿仑方差估算出噪声电平，然后用１组递点函数产生高质量的模拟钟时差的随机序列．在对１台商品铯钟进行具体模拟后，给出了真实数据与模拟值的阿仑方差之问的相符程度，最后对实际问题进行了分析．     

1998～2001年国家授时中心(NTSC)铯原子钟运转情况

主要介绍了用于保持中国科学院国家授时中心 (原陕西天文台 )时间尺度的 6台铯原子钟 (代号分别为 :Cs0 7、Cs0 8、Cs1 1、Cs1 6、Cs1 7、Cs1 8)的运行情况。 6台铯原子钟自 1 997年下半年正式给BIPM (国际权度局 )提供数据 ,参加国际原子时(TAI)计算至今已达 5年之久 ,在此期间 ,除Cs1 8因铯束管故障在 1 999年返回美国检修外 ,其它 5台钟运行情况良好。详细介绍、分析每台钟在 1 998～ 2 0 0 1年期间的整体特性、不同采样间隔下的稳定度比较、速率漂移以及它们在TAI系统中的取权情况。通过分析比较 ,使我们对每台钟的运行情况作出恰如其分的评价 ,以便更好地利用国家授时中心的钟资源 ,做好守时和授时工作。     

Analysis of the Precision of Pulsar Time Clock Modeltwo

Millisecond pulsars have a very high rotation stability, which can be applied to many research fields, such as the establishment of the pulsar time standard, the detection of gravitational wave, the spacecraft navigation by using X-ray pulsars and so on. In this paper, we employ two millisecond pulsars PSR J0437-4715 and J1713+0743, which are observed by the International Pulsar Timing Array (IPTA), to analyze the precision of pulsar clock parameter and the prediction accuracy of pulse time of arrival (TOA). It is found that the uncertainty of spin frequency is 10^?15 Hz, the uncertainty of the first derivative of spin frequency is 10^?23 s^?2, and the precision of measured rotational parameters increases by one order of magnitude with the accumulated observational data every 4～5 years. In addition, the errors of TOAs within 4.8 yr which are predicted by the clock model established by the 10 yr data of J0437-4715 are less than 1 μs. Therefore, one can use the pulsar time standard to calibrate the atomic clock, and make the atomic time deviate from the TT (Terrestrial Time) less than 1 μs within 4.8 yr.