GPS卫星钟差完备性监测研究与算法实现
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摘要
卫星钟频率漂移引起的卫星钟时间与GPS标准时之间的差值称为卫星钟差。卫星钟差在精密定位中占有重要定位,高精度的GPS测量,归根到底是高精度的时间测量。当前IGS服务中心能够提供精度接近于0.01ns的事后精密钟差。高精度的事后卫星钟差估计目前已不成问题,并能够满足精密定位的需要。但由于星载钟非常敏感,极易受到外界的环境的影响,从而会发生不规则的跳变,严重时会导致导航与定位的失效。从用户使用信号的安全性来考虑,能监测出含卫星钟差粗差的信号,并及时示警给用户,这个作用和意义显得非常重要。
从导航卫星信号的安全性使用性角度出发,得到GPS卫星钟差完备性监测的概念。GPS卫星钟差完备性监测,就是找出含有粗差钟差的卫星,剔除并及时报警给用户,给用户提供“干净的”、不含粗差钟差的高质量GPS信号,从而保证用户的安全。
本文重点研究GPS卫星钟差完备性监测研究与算法实现,主要从如下几个方面进行研究:
1、利用消电离层组合的载波平滑伪距值,在局域网中估计卫星相对钟差及其精度。其中分别用地面站和空间星载钟作为基准站进行估计,两种方法得出的结论一致。
2、根据估计出的卫星钟差的残差,通过QR奇偶校验法进行线性变换,利用欧氏距离和相关系数指标进行聚类分析,最终类聚成两组:含有粗差卫星的向量组和不含有粗差卫星的向量组。根据含有粗差卫星的那一向量组,给用户提示粗差卫星,实现完备性报警。
3、利用VC++及Fortran混编语言,开发GPS卫星钟差完备性监测软件。利用该软件进行河北省CORS网数据的处理,剔除钟差质量差的卫星,“净化”GPS原始观测数据,取得良好效果。该软件基本具备工程化应用条件。
The difference between GPS satellite clock time and GPS standard time caused by Satellite clock frequency drift is knew as satellite clock error. Satellite clock error plays an important role in precision positioning,high-precision GPS measurements is essential high-precision time measurements. The IGS Service Centers can provide the ex post clocks error which precision accuracy is close to 0.01ns currently. The ex post high-precision satellite clock estimation is no longer a problem, which can meet precision positioning requirements. However,satellite clocks may occur irregular Clock Jump beacuse the clocks are very sensitive and highly vulnerable to the impact of the external environment, which would lead to failure of navigation and positioning when serious Jumping occurred. The systerm can detect the gross errors form the satellite signals and timely warning to the user from the considerations of the security of using the signals by users, The role and significance goes without saying.
From the view of safety using of navigation satellite signals, Its get the concept of GPS satellite clock error integrity monitoring. GPS Satellite Clock Error Integrity Monitoring, that is, to find outliers containing the satellite clock error and remove them ,along with warning to the users timely, to provide "clean", high-quality, and free clock error signals, thus ensuring the users' Security.
This paper focuses on GPS Satellite Clock Error Integrity Monitoring and related algorithm implementation, mainly to study the following aspects:
1. Estimating the satellite clock relative error and the accuracy by using values of combination ionosphere free carrier smoothed pseudorange in the SAN(small area network). In this paper, Its make ground stations and space as the base station respectively to estimate satellite clock error, the conclusions are consistent by two ways.
2. According to the estimated satellite clock error residuals, It makes linear transformation by parity QR method, and make clustering analysis by the Indicators of Euclidean distance and the correlation coefficient, the final classes are clustered into two groups: a group containing the gross clock error satellites and another do not. According to the error satellites, It gives the users a tip to achieve the function of Integrity Monitoring Alarm.
3. The author has designed GPS Satellite Clock Error Integrity Monitoring Software by using VC++ and Fortran mixed languages and used it to process Hebei Province CORS network data. The software removed the poor quality of the clock error satellites to "decontaminate" GPS raw data and achieved good results. The software has the based ability in engineering application.
从导航卫星信号的安全性使用性角度出发,得到GPS卫星钟差完备性监测的概念。GPS卫星钟差完备性监测,就是找出含有粗差钟差的卫星,剔除并及时报警给用户,给用户提供“干净的”、不含粗差钟差的高质量GPS信号,从而保证用户的安全。
本文重点研究GPS卫星钟差完备性监测研究与算法实现,主要从如下几个方面进行研究:
1、利用消电离层组合的载波平滑伪距值,在局域网中估计卫星相对钟差及其精度。其中分别用地面站和空间星载钟作为基准站进行估计,两种方法得出的结论一致。
2、根据估计出的卫星钟差的残差,通过QR奇偶校验法进行线性变换,利用欧氏距离和相关系数指标进行聚类分析,最终类聚成两组:含有粗差卫星的向量组和不含有粗差卫星的向量组。根据含有粗差卫星的那一向量组,给用户提示粗差卫星,实现完备性报警。
3、利用VC++及Fortran混编语言,开发GPS卫星钟差完备性监测软件。利用该软件进行河北省CORS网数据的处理,剔除钟差质量差的卫星,“净化”GPS原始观测数据,取得良好效果。该软件基本具备工程化应用条件。
The difference between GPS satellite clock time and GPS standard time caused by Satellite clock frequency drift is knew as satellite clock error. Satellite clock error plays an important role in precision positioning,high-precision GPS measurements is essential high-precision time measurements. The IGS Service Centers can provide the ex post clocks error which precision accuracy is close to 0.01ns currently. The ex post high-precision satellite clock estimation is no longer a problem, which can meet precision positioning requirements. However,satellite clocks may occur irregular Clock Jump beacuse the clocks are very sensitive and highly vulnerable to the impact of the external environment, which would lead to failure of navigation and positioning when serious Jumping occurred. The systerm can detect the gross errors form the satellite signals and timely warning to the user from the considerations of the security of using the signals by users, The role and significance goes without saying.
From the view of safety using of navigation satellite signals, Its get the concept of GPS satellite clock error integrity monitoring. GPS Satellite Clock Error Integrity Monitoring, that is, to find outliers containing the satellite clock error and remove them ,along with warning to the users timely, to provide "clean", high-quality, and free clock error signals, thus ensuring the users' Security.
This paper focuses on GPS Satellite Clock Error Integrity Monitoring and related algorithm implementation, mainly to study the following aspects:
1. Estimating the satellite clock relative error and the accuracy by using values of combination ionosphere free carrier smoothed pseudorange in the SAN(small area network). In this paper, Its make ground stations and space as the base station respectively to estimate satellite clock error, the conclusions are consistent by two ways.
2. According to the estimated satellite clock error residuals, It makes linear transformation by parity QR method, and make clustering analysis by the Indicators of Euclidean distance and the correlation coefficient, the final classes are clustered into two groups: a group containing the gross clock error satellites and another do not. According to the error satellites, It gives the users a tip to achieve the function of Integrity Monitoring Alarm.
3. The author has designed GPS Satellite Clock Error Integrity Monitoring Software by using VC++ and Fortran mixed languages and used it to process Hebei Province CORS network data. The software removed the poor quality of the clock error satellites to "decontaminate" GPS raw data and achieved good results. The software has the based ability in engineering application.
引文
[1]李征航,张小红.卫星导航定位新技术及高精度数据处理方法[M].武汉:武汉大学出版社,2009
[2]党亚民,秘金钟,成英燕.全球导航卫星系统原理与应用[M].北京:测绘出版社,2007
[3]李征航,黄劲松.GPS原理与应用[M].武汉:武汉大学出版社2005
[4]程鹏飞,蔡艳辉,文汉江等.全球卫星导航系及其他系统[M].北京:测绘出版社,2009
[5]叶世榕.GPS非差相位精密单点定位理论与实现[D].武汉:武汉大学,2002
[6]秘金钟.GNSS完备性监测方法、技术与应用[D].武汉:武汉大学,2010
[7]刘经南,陈俊勇,张燕平.广域差分GPS原理和方法[M].北京:测绘出版社,1999
[8] Kauba I. A Guide to Using International GPS Service(IGS) Products[R].IGS Central Bureau,IGS,Pasadena,2009
[9]王沫然. MATLAB与科学计算[M].北京:电子工业出版社,2006
[10]季善标,朱广文,熊永清.精密GPS卫星钟差的改正和应用[J].空间科学学报,2001,21(1):43-47
[11]楼益栋,施闯,周小青. GPS精密卫星钟差估计和分析[J].武汉大学学报:信息科学版, 2009,34(1):88-91
[12] Huseyin Baki lz,GE Maorong, Esmond Mok. THE STOCHASTIC ESTIMATION OF SATELLITE CLOCK CORRECTION INFORMATION IN WADGPS [J].Geo-spatial Science,2009, 3(1):66-69
[13] Martin Mur T J.Estimation of Precise GPS Clock Bias Values by the ESOC IGS Analysis Centere GeoForschungsZentrum Psatdam. Germany,1995,47(13):141-151
[14] IGS.IGS Product Availability [OL].http://igscb.jpl.nasa.gov,2008
[15]A Hauschild,O.Montenbruck.Real-timeClock Estimation for Precise Orbit Determination of LEO-Satellites [J].ION GNSS 2008.Sep.Savannah,Georgia,2008,25(5):16-19
[16] S.Hutsell. Relating the Hadamard variance to MCS Kalman filter clock estimation [C],27th Annual Precise Time and Time Interval(PTTI) Applications and Planning Meeting,1996,36:291-301
[17] R. Schmid, P. Steigenberger, G. Gendt, M. Ge, M.Rothacher. Generation of a consistent absolute phase center correction model for GPS receiver and satellite Antennas [J].Journal of Geodesy,2007,81(12): 781-798
[18] A. Hauschild, Kalman-Filter-Based GPS Clock Estimation for Near Real-time Positioning [J]. submitted to GPS Solutions,2002, 38:445-456
[19] LI XiaoHui,WU HaiTao,BIAN YuJing,WANG DanNi. Satellite virtual atomic clock with pseudorange difference function [J]. Science in China Series G:Physics,Mechanics and Astronomy,2009, 14:315-323
[20] Han S,Kwon J,Jekeli C.Accurate absolute GPS positioning through satellite clock error estimation.J Geodesy,2001,75:33-34
[21]CAI ChengLin,,LI XiaoHui,WU HaiTao,CHANG XingWang A satellite clock error correction method in the wide area differential system[J],Chinese Science Bulletin,2009,54:4616-4623
[22]Kouba J and Heroux P.Precise point positioning using IGS orbit and clock products[J],GPS Solution,2001,15(2):12-28
[23]Lou Yidong,etal.Realization and analysis of GPS precise clock products[J],Geomatics and Information Science of Wuhan University,2009,34(1):88-91
[24]刘经南,陈俊勇等.GPS广域差分定位原理与方法[M].北京:测绘出版社,1999
[25]秦显平,杨元喜等.利用SLR和伪距资料确定导航卫星钟差[J].测绘学报,2004,33(3):205-209
[26]魏子卿,葛茂荣. GPS相对定位的数学模型[M].北京:测绘出版社,1998
[27]Jensen ABO,Ovstedal O.The Effect of Different Tropospheric Models on Precise Point Positioning in Kinematic Model [J],Survey Review,2008,40(308):173-187
[28]李德仁.误差处理与可靠性理论[M].北京:测绘出版社,1988
[29] Rainer Kress. Numerical Analysis [M]. Springer-Verlag,1998
[30] Dingyu,Yangquan Chen.Advanced Applied Mathematical Problem Soulutions With MATLAB [M]. Springer-Verlag, 2008
[31]程云鹏等.矩阵论[M].西安:西北工业大学,2006
[32]陶本藻.测量数据处理的统计理论和方法[M].北京:测绘出版社,2006
[33]于秀林,任雪松.多元统计分析[M].北京:中国统计出版社2006
[34] Blewitt G. An automatic editing algorithm for GPS data[J]. Geophysical Research Letters, 1990, 17(3): 199-202
[35]秘金钟,谷守周,方书山.基于向量相关距离的新型RAIM算法[J].中国科学:物理学、力学、天文学,2010,40(5):638-643
[36]施闯.大规模、高精度GPS网平差处理与分析理论及其应用[D].武汉:武汉测绘科技大学.1999
[37]李玉莹,李铁新,瞿造成.卫星导航定位系统的现状与星载钟的新发展[J].导航天地,2010,1(1):45-48
[38]蔡成林,李孝辉,吴海涛.星钟和星历误差分离的广域差分新方法[J].宇航学报,2009,30(6):2165-2170
[2]党亚民,秘金钟,成英燕.全球导航卫星系统原理与应用[M].北京:测绘出版社,2007
[3]李征航,黄劲松.GPS原理与应用[M].武汉:武汉大学出版社2005
[4]程鹏飞,蔡艳辉,文汉江等.全球卫星导航系及其他系统[M].北京:测绘出版社,2009
[5]叶世榕.GPS非差相位精密单点定位理论与实现[D].武汉:武汉大学,2002
[6]秘金钟.GNSS完备性监测方法、技术与应用[D].武汉:武汉大学,2010
[7]刘经南,陈俊勇,张燕平.广域差分GPS原理和方法[M].北京:测绘出版社,1999
[8] Kauba I. A Guide to Using International GPS Service(IGS) Products[R].IGS Central Bureau,IGS,Pasadena,2009
[9]王沫然. MATLAB与科学计算[M].北京:电子工业出版社,2006
[10]季善标,朱广文,熊永清.精密GPS卫星钟差的改正和应用[J].空间科学学报,2001,21(1):43-47
[11]楼益栋,施闯,周小青. GPS精密卫星钟差估计和分析[J].武汉大学学报:信息科学版, 2009,34(1):88-91
[12] Huseyin Baki lz,GE Maorong, Esmond Mok. THE STOCHASTIC ESTIMATION OF SATELLITE CLOCK CORRECTION INFORMATION IN WADGPS [J].Geo-spatial Science,2009, 3(1):66-69
[13] Martin Mur T J.Estimation of Precise GPS Clock Bias Values by the ESOC IGS Analysis Centere GeoForschungsZentrum Psatdam. Germany,1995,47(13):141-151
[14] IGS.IGS Product Availability [OL].http://igscb.jpl.nasa.gov,2008
[15]A Hauschild,O.Montenbruck.Real-timeClock Estimation for Precise Orbit Determination of LEO-Satellites [J].ION GNSS 2008.Sep.Savannah,Georgia,2008,25(5):16-19
[16] S.Hutsell. Relating the Hadamard variance to MCS Kalman filter clock estimation [C],27th Annual Precise Time and Time Interval(PTTI) Applications and Planning Meeting,1996,36:291-301
[17] R. Schmid, P. Steigenberger, G. Gendt, M. Ge, M.Rothacher. Generation of a consistent absolute phase center correction model for GPS receiver and satellite Antennas [J].Journal of Geodesy,2007,81(12): 781-798
[18] A. Hauschild, Kalman-Filter-Based GPS Clock Estimation for Near Real-time Positioning [J]. submitted to GPS Solutions,2002, 38:445-456
[19] LI XiaoHui,WU HaiTao,BIAN YuJing,WANG DanNi. Satellite virtual atomic clock with pseudorange difference function [J]. Science in China Series G:Physics,Mechanics and Astronomy,2009, 14:315-323
[20] Han S,Kwon J,Jekeli C.Accurate absolute GPS positioning through satellite clock error estimation.J Geodesy,2001,75:33-34
[21]CAI ChengLin,,LI XiaoHui,WU HaiTao,CHANG XingWang A satellite clock error correction method in the wide area differential system[J],Chinese Science Bulletin,2009,54:4616-4623
[22]Kouba J and Heroux P.Precise point positioning using IGS orbit and clock products[J],GPS Solution,2001,15(2):12-28
[23]Lou Yidong,etal.Realization and analysis of GPS precise clock products[J],Geomatics and Information Science of Wuhan University,2009,34(1):88-91
[24]刘经南,陈俊勇等.GPS广域差分定位原理与方法[M].北京:测绘出版社,1999
[25]秦显平,杨元喜等.利用SLR和伪距资料确定导航卫星钟差[J].测绘学报,2004,33(3):205-209
[26]魏子卿,葛茂荣. GPS相对定位的数学模型[M].北京:测绘出版社,1998
[27]Jensen ABO,Ovstedal O.The Effect of Different Tropospheric Models on Precise Point Positioning in Kinematic Model [J],Survey Review,2008,40(308):173-187
[28]李德仁.误差处理与可靠性理论[M].北京:测绘出版社,1988
[29] Rainer Kress. Numerical Analysis [M]. Springer-Verlag,1998
[30] Dingyu,Yangquan Chen.Advanced Applied Mathematical Problem Soulutions With MATLAB [M]. Springer-Verlag, 2008
[31]程云鹏等.矩阵论[M].西安:西北工业大学,2006
[32]陶本藻.测量数据处理的统计理论和方法[M].北京:测绘出版社,2006
[33]于秀林,任雪松.多元统计分析[M].北京:中国统计出版社2006
[34] Blewitt G. An automatic editing algorithm for GPS data[J]. Geophysical Research Letters, 1990, 17(3): 199-202
[35]秘金钟,谷守周,方书山.基于向量相关距离的新型RAIM算法[J].中国科学:物理学、力学、天文学,2010,40(5):638-643
[36]施闯.大规模、高精度GPS网平差处理与分析理论及其应用[D].武汉:武汉测绘科技大学.1999
[37]李玉莹,李铁新,瞿造成.卫星导航定位系统的现状与星载钟的新发展[J].导航天地,2010,1(1):45-48
[38]蔡成林,李孝辉,吴海涛.星钟和星历误差分离的广域差分新方法[J].宇航学报,2009,30(6):2165-2170
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