改进中位数方法的BDS卫星钟差数据预处理策略
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摘要
针对卫星钟差数据中会经常出现粗差等数据异常的问题,该文提出了一种基于改进的中位数(MAD)方法的北斗卫星钟差数据预处理策略。该策略首先对长时间段卫星钟差数据的非空数据进行提取,然后将提取的非空数据转换为对应的频率数据,用改进的MAD方法进行处理,在此基础上再对长时间段的卫星钟差数据基于每天的数据采用改进的MAD方法进行再次预处理。通过对北斗卫星1a钟差数据的预处理,从钟差序列本身及其对应的频率序列和钟差的拟合残差3个方面对所提预处理策略进行了验证。实验表明,此策略能够有效地识别并处理北斗卫星钟差数据中的异常值。
Aiming at the problems of abnormal values such as gross errors which are inevitable to frequently occur in the satellite clock bias(SCB)data,this paper proposed a data preprocessing strategy for BeiDou navigation satellite system(BDS)SCB based on an improved median absolute deviation(MAD)method.Specifically,nonempty data was extracted firstly from the original long-time SCB sequence to be preprocessed using the improved MAD method,the subsequent step was to preprocess again the daily data of the preprocessed SCB data based on the improved MAD method.Using the proposed process preprocessing one-year BDS SCB data,the new process was validated from aspects of the preprocessed SCB sequences and corresponding frequency sequences and the fitting residuals of SCB data.The validated results showed that this process could effectively recognize and deal with abnormal values in the BDS SCB data.
Aiming at the problems of abnormal values such as gross errors which are inevitable to frequently occur in the satellite clock bias(SCB)data,this paper proposed a data preprocessing strategy for BeiDou navigation satellite system(BDS)SCB based on an improved median absolute deviation(MAD)method.Specifically,nonempty data was extracted firstly from the original long-time SCB sequence to be preprocessed using the improved MAD method,the subsequent step was to preprocess again the daily data of the preprocessed SCB data based on the improved MAD method.Using the proposed process preprocessing one-year BDS SCB data,the new process was validated from aspects of the preprocessed SCB sequences and corresponding frequency sequences and the fitting residuals of SCB data.The validated results showed that this process could effectively recognize and deal with abnormal values in the BDS SCB data.
引文
[1]郭海荣.导航卫星原子钟时频特性分析理论与方法研究[D].郑州:信息工程大学,2006.(GUO Hairong.Study on the analysis theories and algorithms of the time and frequency characterization for atomic clocks of navigation satellite[D].Zhengzhou:Information Engineering University,2006.)
[2]黄观文.GNSS星载原子钟质量评价及精密钟差算法研究[D].西安:长安大学,2012.(HUANG Guanwen.Research on algorithms of precise clock offset and quality evaluation of GNSS satellite clock[D].Xi’an:Chang’an University,2012.)
[3] STEIGENBERGER P,HUGENTOBLER U,LOYER S,et al.Galileo orbit and clock quality of the IGS multiGNSS experiment[J].Advances in Space Research,2015,55(1):269-281.
[4] HUANG G W,ZHANG Q,LI H,et al.Quality variation of GPS satellite clocks on-orbit using IGS clock products[J].Advances in Space Research,2013,51(6):978-987.
[5] WANG Y P,LU Z P,QY Y,et al.Improving prediction performance of GPS satellite clock bias based on wavelet neural network[J].GPS Solutions,2016,21(2):1-12.
[6]唐桂芬,许雪晴,曹纪东,等.基于通用钟差模型的北斗卫星钟预报精度分析[J].中国科学(物理学力学天文学),2015,45(7):079502.(TANG Guifen,XU Xueqing,CAO Jidong,et al.Precision analysis for compass satellite clock prediction based on a universal clock offset model[J].Scientia Sinica(Physica,Mechanica&Astronomica),2015,45(7):079502.)
[7]郑作亚,党亚民,卢秀山,等.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[J].天文学报,2010,51(1):95-102.(ZHENG Zuoya,DANG Yamin,LU Xiushan,et al.Prediction model with periodic item and its application to the prediction of GPS satellite clock bias[J].Acta Astronomica Sincia,2010,51(1):95-102.)
[8]HEO Y J,CHO J,HEO M B.Improving prediction accuracy of GPS satellite clocks with periodic variation behavior[J].Measurement Science and Technology,2010,21(7):073001.
[9]雷雨,赵丹宁.基于经验模式分解和最小二乘支持向量机的卫星钟差预报[J].天文学报,2014,55(3):216-227.(LEI Yu,ZHAO Danning.The satellite clock bias forecast based on empirical mode decomposition and least squares support vector machines[J].Acta Astronomica Sinica,2014,55(3):216-227.)
[10]王宇谱,吕志平,陈正生,等.一种新的钟差预处理方法及在WNN钟差中长期预报中的应用[J].武汉大学学报(信息科学版),2016,41(3):373-379.(WANG Yupu,LZhiping,CHEN Zhengsheng,et al.A new data preprocessing method for satellite clock bias and its application in WNN to predict medium-term and longterm clock bias[J].Geomatics and Information Science of Wuhan University,2016,41(3):373-379.)
[11]RILEY W J.Handbook of frequency stability analysis[M].Gaithersburg,MD:National Institute of Standards and Technology,2007.
[12]冯遂亮.原子钟数据预处理与钟性能分析方法研究[D].郑州:信息工程大学,2009.(FENG Suiliang.Study on the methods of data preprocessing and performance analysis for atomic clocks[D].Zhengzhou:Information Engineering University,2009.)
[13]张倩倩,韩松辉,杜兰,等.星地时间同步钟差异常处理的Bayesian方法[J].武汉大学学报(信息科学版),2016,41(6):772-777.(ZHANG Qianqian,HAN Songhui,DU Lan,et al.Bayesian methods for outliers detection and estimation in clock offset measurements of satellite-ground time transfer[J].Geomatics and Information Science of Wuhan University,2016,41(6):772-777.)
[14]王宇谱,吕志平,王宁,等.顾及卫星钟随机特性的抗差最小二乘配置钟差预报算法[J].测绘学报,2016,45(6):646-655.(WANG Yupu,LZhiping,WANG Ning,et al.Prediction of navigation satellite clock bias considering clock’s stochastic variation behavior with robust least square collocation[J].Acta Geodaetica et Cartographica Sinica,2016,45(6):646-655.)
[15]周佩元,杜兰,路余,等.多星定轨条件下北斗卫星钟差的周期性变化[J].测绘学报,2015,44(12):1299-1306.(ZHOU Peiyuan,DU Lan,LU Yu,et al.Periodic variations of BeiDou satellite clock offsets derived from multi-satellite orbit determination[J].Acta Geodaetica et Cartographica Sinica,2015,44(12):1299-1306.)
[16]余航.BDS/Galileo星载原子钟性能及短期预报算法研究[D].西安:长安大学,2015.(YU Hang.Research on prediction and characteristics of BDS/Galileo onboard satellite atomic clock[D].Xi’an:Chang’an University,2015.)
[17]周佩元,杜兰,方传善.北斗系统精密卫星钟差精度评价[J].测绘科学,2015,40(12):86-90.(ZHOU Peiyuan,DU Lan,FANG Chuanshan.Precision evaluation of BDS precise clock products[J].Science of Surveying and Mapping,2015,40(12):86-90.)
[2]黄观文.GNSS星载原子钟质量评价及精密钟差算法研究[D].西安:长安大学,2012.(HUANG Guanwen.Research on algorithms of precise clock offset and quality evaluation of GNSS satellite clock[D].Xi’an:Chang’an University,2012.)
[3] STEIGENBERGER P,HUGENTOBLER U,LOYER S,et al.Galileo orbit and clock quality of the IGS multiGNSS experiment[J].Advances in Space Research,2015,55(1):269-281.
[4] HUANG G W,ZHANG Q,LI H,et al.Quality variation of GPS satellite clocks on-orbit using IGS clock products[J].Advances in Space Research,2013,51(6):978-987.
[5] WANG Y P,LU Z P,QY Y,et al.Improving prediction performance of GPS satellite clock bias based on wavelet neural network[J].GPS Solutions,2016,21(2):1-12.
[6]唐桂芬,许雪晴,曹纪东,等.基于通用钟差模型的北斗卫星钟预报精度分析[J].中国科学(物理学力学天文学),2015,45(7):079502.(TANG Guifen,XU Xueqing,CAO Jidong,et al.Precision analysis for compass satellite clock prediction based on a universal clock offset model[J].Scientia Sinica(Physica,Mechanica&Astronomica),2015,45(7):079502.)
[7]郑作亚,党亚民,卢秀山,等.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[J].天文学报,2010,51(1):95-102.(ZHENG Zuoya,DANG Yamin,LU Xiushan,et al.Prediction model with periodic item and its application to the prediction of GPS satellite clock bias[J].Acta Astronomica Sincia,2010,51(1):95-102.)
[8]HEO Y J,CHO J,HEO M B.Improving prediction accuracy of GPS satellite clocks with periodic variation behavior[J].Measurement Science and Technology,2010,21(7):073001.
[9]雷雨,赵丹宁.基于经验模式分解和最小二乘支持向量机的卫星钟差预报[J].天文学报,2014,55(3):216-227.(LEI Yu,ZHAO Danning.The satellite clock bias forecast based on empirical mode decomposition and least squares support vector machines[J].Acta Astronomica Sinica,2014,55(3):216-227.)
[10]王宇谱,吕志平,陈正生,等.一种新的钟差预处理方法及在WNN钟差中长期预报中的应用[J].武汉大学学报(信息科学版),2016,41(3):373-379.(WANG Yupu,LZhiping,CHEN Zhengsheng,et al.A new data preprocessing method for satellite clock bias and its application in WNN to predict medium-term and longterm clock bias[J].Geomatics and Information Science of Wuhan University,2016,41(3):373-379.)
[11]RILEY W J.Handbook of frequency stability analysis[M].Gaithersburg,MD:National Institute of Standards and Technology,2007.
[12]冯遂亮.原子钟数据预处理与钟性能分析方法研究[D].郑州:信息工程大学,2009.(FENG Suiliang.Study on the methods of data preprocessing and performance analysis for atomic clocks[D].Zhengzhou:Information Engineering University,2009.)
[13]张倩倩,韩松辉,杜兰,等.星地时间同步钟差异常处理的Bayesian方法[J].武汉大学学报(信息科学版),2016,41(6):772-777.(ZHANG Qianqian,HAN Songhui,DU Lan,et al.Bayesian methods for outliers detection and estimation in clock offset measurements of satellite-ground time transfer[J].Geomatics and Information Science of Wuhan University,2016,41(6):772-777.)
[14]王宇谱,吕志平,王宁,等.顾及卫星钟随机特性的抗差最小二乘配置钟差预报算法[J].测绘学报,2016,45(6):646-655.(WANG Yupu,LZhiping,WANG Ning,et al.Prediction of navigation satellite clock bias considering clock’s stochastic variation behavior with robust least square collocation[J].Acta Geodaetica et Cartographica Sinica,2016,45(6):646-655.)
[15]周佩元,杜兰,路余,等.多星定轨条件下北斗卫星钟差的周期性变化[J].测绘学报,2015,44(12):1299-1306.(ZHOU Peiyuan,DU Lan,LU Yu,et al.Periodic variations of BeiDou satellite clock offsets derived from multi-satellite orbit determination[J].Acta Geodaetica et Cartographica Sinica,2015,44(12):1299-1306.)
[16]余航.BDS/Galileo星载原子钟性能及短期预报算法研究[D].西安:长安大学,2015.(YU Hang.Research on prediction and characteristics of BDS/Galileo onboard satellite atomic clock[D].Xi’an:Chang’an University,2015.)
[17]周佩元,杜兰,方传善.北斗系统精密卫星钟差精度评价[J].测绘科学,2015,40(12):86-90.(ZHOU Peiyuan,DU Lan,FANG Chuanshan.Precision evaluation of BDS precise clock products[J].Science of Surveying and Mapping,2015,40(12):86-90.)
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