GLONASS-K与GLONASS-M+卫星姿态建模对卫星钟差估计和精密单点定位的影响

doi:10.11947/j.AGCS.2025.20250091

测绘学报 ›› 2025, Vol. 54 ›› Issue (12): 2142-2152.doi: 10.11947/j.AGCS.2025.20250091

GLONASS-K与GLONASS-M+卫星姿态建模对卫星钟差估计和精密单点定位的影响

张守建¹(), 曹新运²^,³^,⁴(), 葛玉龙⁵, 沈飞²^,³^,⁴

^1.武汉大学测绘学院，湖北　武汉　430079
^2.南京师范大学地理科学学院，江苏　南京　210023
^3.虚拟地理环境教育部重点实验室（南京师范大学），江苏　南京　210023
^4.江苏省地理信息资源开发与利用协同创新中心，江苏　南京　210023
^5.南京师范大学海洋科学与工程学院，江苏　南京　210023

收稿日期:2025-03-12 修回日期:2025-11-04 出版日期:2026-01-15 发布日期:2026-01-15
通讯作者: 曹新运 E-mail:shjzhang@sgg.whu.edu.cn;xycao@njnu.edu.cn
作者简介:张守建（1980—），男，博士，副教授，研究方向为多源融合导航和智能导航。　E-mail：shjzhang@sgg.whu.edu.cn
基金资助:
国家自然科学基金(42474019; 42374016; 41904018);江苏省基础研究计划优秀青年基金(BK20250138);2023年湖北省重大攻关项目（JD）(2023BAA025)

Yaw attitude modeling of GLONASS-K and GLONASS-M+ satellites and its impact on satellite clock estimation and precise point positioning

Shoujian ZHANG¹(), Xinyun CAO²^,³^,⁴(), Yulong GE⁵, Fei SHEN²^,³^,⁴

^1.School of Geodesy and Geomatics, Wuhan University, Wuhan 430079, China
^2.School of Geography, Nanjing Normal University, Nanjing 210023, China
^3.Key Laboratory of Virtual Geographic Environment (Nanjing Normal University), Ministry of Education, Nanjing 210023, China
^4.Jiangsu Center for Collaborative Innovation in Geographical Information Resource Development and Application, Nanjing 210023, China
^5.School of Marine Science and Engineering, Nanjing Normal University, Nanjing 210023, China

Received:2025-03-12 Revised:2025-11-04 Online:2026-01-15 Published:2026-01-15
Contact: Xinyun CAO E-mail:shjzhang@sgg.whu.edu.cn;xycao@njnu.edu.cn
About author:ZHANG Shoujian (1980—), male, PhD, associate professor, majors in multi-source integrated navigation and intelligent navigation. E-mail: shjzhang@sgg.whu.edu.cn
Supported by:
The National Natural Science Foundation of China(42474019; 42374016; 41904018);Basic Research Program of Jiangsu for Excellent Young Scholars(BK20250138);Major Program (JD) of Hubei Province(2023BAA025)

摘要/Abstract

摘要：

卫星姿态的准确建模对精密卫星钟差估计和精密单点定位（PPP）均具有显著影响。本文阐明了卫星姿态与天线相位中心改正、相位缠绕的数学关联，对比分析了GLONASS-K与GLONASS-M+卫星的姿态建模差异，并基于2024年半年的数据评估了3种姿态策略对GLONASS卫星钟差精度和PPP定位性能的影响。研究表明：GLONASS-K卫星姿态异常平均持续5~6 d左右，明显短于GLONASS-M+卫星；现阶段IGS分析中心的GLONASS-K卫星的姿态四元数仍沿用旧模型或名义姿态模型，太阳高度角趋近于0°时，最大偏航角差异分别达到90°和180°；采用名义姿态或者GLONASS-M+姿态计算的GLONASS卫星钟差精度分别降低了29.6%和3.7%，相应的PPP定位精度分别降低了15.4%和3.7%。

关键词: GLONASS-M+, GLONASS-K, 偏航姿态, 卫星钟差估计, 精密单点定位

Abstract:

Accurate satellite attitude modeling significantly influences both precise satellite clock estimation and precise point positioning (PPP). This work elucidates the mathematical relationships between satellite attitude, antenna phase center correction and phase wind-up effects, following by a comparative analysis of attitude modeling discrepancies between GLONASS-M+ and GLONASS-K satellites. Finally, six-month observations in 2024 are utilized to evaluate the impacts of three attitude strategies on GLONASS satellite clock accuracy and PPP positioning performance. It reveals that the eclipsing GLONASS-K satellites last for 5~6 days on average, substantially shorter than GLONASS-M+ satellites. Currently, GLONASS-K satellite attitude quaternions in IGS analysis centers continue to employ the legacy model or nominal attitude model. When the sun angle above the satellite orbital plane approaches 0°, maximum yaw angle discrepancies reach 90° for the legacy model and 180° for the nominal model. In contrast to the correct attitude model, the nominal and GLONASS-M+ satellite model degrade GLONASS satellite clock accuracy by 29.6% and 3.7%, respectively, with corresponding PPP positioning precision reductions of 15.4% and 3.7%.

Key words: GLONASS-M+, GLONASS-K, yaw attitude, satellite clock estimation, precise point positioning

中图分类号:

P228

张守建, 曹新运, 葛玉龙, 沈飞. GLONASS-K与GLONASS-M+卫星姿态建模对卫星钟差估计和精密单点定位的影响[J]. 测绘学报, 2025, 54(12): 2142-2152.

Shoujian ZHANG, Xinyun CAO, Yulong GE, Fei SHEN. Yaw attitude modeling of GLONASS-K and GLONASS-M+ satellites and its impact on satellite clock estimation and precise point positioning[J]. Acta Geodaetica et Cartographica Sinica, 2025, 54(12): 2142-2152.

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模型与误差	钟差估计策略	PPP策略
估计模型	钟差非差模型	无电离层组合模型
滤波器	迭代Kalman滤波^[20]
卫星轨道	CODE精密轨道产品
卫星钟差	模拟实时估计	采用估计的钟差
先验对流层模型	GPT2+VMF投影函数^[21]
PCO	IGS20^[22]
潮汐改正	固体潮+海潮+极潮^[23]（IERS 2010）
相位缠绕	模型改正^[24]
测站坐标	固定为IGS周解	动态白噪声估计
卫星姿态	策略S1：GLONASS-M/M+和GLONASS-K分别采用各自姿态模型
	策略S2：所有卫星均采用GLONASS-M/M+姿态模型
	策略S3：所有卫星均采用名义姿态模型

钟差姿态	PPP姿态	时段1			时段2			时段3
钟差姿态	PPP姿态	N	E	U	N	E	U	N	E	U
S1	S1	4.37	6.89	11.14	3.99	6.24	10.80	4.72	7.49	11.67
S1	S2	4.46	6.98	11.37	4.05	6.47	10.96	4.75	7.52	11.91
S1	S3	5.00	7.83	12.82	4.51	7.10	12.46	5.36	8.27	13.43
S2	S2	4.38	6.93	11.25	4.04	6.50	10.95	4.73	7.53	11.95
S3	S3	4.86	7.77	12.67	4.55	7.20	12.16	5.28	8.22	13.50

GLONASS-K与GLONASS-M+卫星姿态建模对卫星钟差估计和精密单点定位的影响

Yaw attitude modeling of GLONASS-K and GLONASS-M+ satellites and its impact on satellite clock estimation and precise point positioning

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