顾及BDS-3/GNSS星钟状态的超快速钟差参数估计模型

doi:10.11947/j.AGCS.2024.20240112

测绘学报 ›› 2024, Vol. 53 ›› Issue (12): 2268-2281.doi: 10.11947/j.AGCS.2024.20240112

顾及BDS-3/GNSS星钟状态的超快速钟差参数估计模型

胡超¹^,²(), 王潜心³()

^1.安徽理工大学空间信息与测绘工程学院，安徽　淮南　232001
^2.地理信息工程国家重点实验室，西安　陕西　710054
^3.中国矿业大学环境与测绘学院，江苏　徐州　221116

收稿日期:2024-03-27 出版日期:2025-01-06 发布日期:2025-01-06
通讯作者: 王潜心 E-mail:chaohu2014gnss@163.com;wqx@cumt.edu.cn
作者简介:胡超（1990—），男，博士，副教授，研究方向为卫星大地测量数据处理。E-mail：chaohu2014gnss@163.com
基金资助:
国家重点研发计划(2020YFA0713502);国家自然科学基金(42404015);天津市轨道交通导航定位及时空大数据技术重点实验室开放课题基金(TKL20230B07)

BDS-3/GNSS satellite ultra-rapid clock offsets estimation model with the aid of onboard clock states solution

Chao HU¹^,²(), Qianxin WANG³()

^1.School of Spatial Information and Surveying Engineering, Anhui University of Science and Technology, Huainan 232001, China
^2.State Key Laboratory of Geographic Information Engineering, Xi'an 710054, China
^3.School of Environmental Science and Spatial Informatics, China University of Mining and Technology, Xuzhou 221116, China

Received:2024-03-27 Online:2025-01-06 Published:2025-01-06
Contact: Qianxin WANG E-mail:chaohu2014gnss@163.com;wqx@cumt.edu.cn
About author:HU Chao (1990—), male, PhD, associate professor, majors in satellite geodesy data processing. E-mail: chaohu2014gnss@163.com
Supported by:
The National Key Research and Development Program of China(2020YFA0713502);The National Natural Science Foundation of China(42404015);Tianjin Key Laboratory of Rail Transit Navigation Positioning and Spatio-temporal Big Data Technology(TKL20230B07)

摘要/Abstract

摘要：

高质量卫星轨道与钟差参数是实现导航系统可靠PNT服务的前提之一。针对多系统超快速定轨中钟差参数易受观测数据质量与模型配置影响的问题，本文提出一种顾及BDS-3/GNSS星钟状态的超快速钟差参数估计模型。首先，在固定的轨道、站坐标等参数基础上，构建顾及钟差速度与加速度的观测方程；然后，利用相位时间差分与模型奇异值分解算法，建立钟差参数质量控制与历元间传递模型；最后，引入钟差状态转移方程并顾及BDS-3/GNSS星钟频率稳定性，实现钟差及其状态参数的单历元同步估计。试验表明，本文提出的BDS-3/GNSS超快速钟差估计模型至少可实现钟差估计精度提升46.9%；且利用估计的钟差状态参数可导出历元间任意时刻钟差。相较于传统的超快速钟差产品，基于估计的BDS-3/GNSS钟差参数可实现四系统动态PPP测站的E、N与U方向定位精度与收敛性能分别提升1.7%、6.0%、31.2%与44.9%、33.3%、38.9%；且预报钟差精度也得到了改善，基于钟差及其状态序列的预报钟差参数可分别降低四系统静态PPP的E、N与U方向定位残差与收敛时间6.3%、13.5%、11.3%与14.5%、1.6%、12.4%。因此，本文提出的BDS-3/GNSS超快速钟差估计方法可有效提升钟差质量，并实现实时与近实时服务能力的提升。

关键词: BDS-3/GNSS, 卫星超快速钟差, 时间差分, 钟差状态, 质量控制

Abstract:

The orbit and clock offset of GNSS are the prerequisite for the high-performance positioning, navigation and timing (PNT) services. To overcome the obvious problems of clock offsets estimation in multi-GNSS ultra-rapid orbit determination solution, such as the observation quality and model configurations, an improved model to estimate ultra-rapid clock offset is proposed by considering the BDS-3/GNSS satellite clock states. Firstly, the observation equation of clock offset estimation by inserting the clock offset velocity and acceleration terms is constructed based on the fixed ultra-rapid orbit and station positions. Secondly, the algorithms of time-difference carrier phase (TDCP) and singular decomposition are used to construct the quality control and epoch-transition model of clock offset estimation. Thirdly, with the introduction of clock parameter states transition equation and consideration of BDS-3/GNSS onboard clock frequency stability, the single-epoch estimated clock offset can be obtained. According to the proposed BDS-3/GNSS ultra-rapid clock offset estimation method, an accuracy improvement at least 46.9% can be obtained, where the instantaneous clock offset of epoch interval can be directly derived using the clock state values. In addition, compared with the traditionally issued BDS-3/GNSS ultra-rapid clock offsets, the four-system kinematics PPP performances of positioning and convergence are improved with 1.7%, 6.0%, 31.2% and 44.9%, 33.3%, 38.9% for E, N and U directions, respectively. Meanwhile, the accuracy of the predicted clock offset is also improved, which can lead to the decreasing of four-system static PPP positioning residuals and convergence time with 6.3%, 13.5%, 11.3% and 14.5%, 1.6%, 12.4% for E, N and U directions, respectively. Therefore, the quality of BDS-3/GNSS satellite ultra-rapid clock offset is significantly improved by the proposed estimation method, which can also be used to improve the multi-GNSS constellation performances of real-time and near-real-time services.

Key words: BDS-3/GNSS, satellite ultra-rapid clock offset, time-difference carrier phase, clock offset states, quality control

中图分类号:

P228

胡超, 王潜心. 顾及BDS-3/GNSS星钟状态的超快速钟差参数估计模型[J]. 测绘学报, 2024, 53(12): 2268-2281.

Chao HU, Qianxin WANG. BDS-3/GNSS satellite ultra-rapid clock offsets estimation model with the aid of onboard clock states solution[J]. Acta Geodaetica et Cartographica Sinica, 2024, 53(12): 2268-2281.

图/表 18

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参数或模型	配置
卫星系统	BDS-3+GPS+Galileo+GLONASS
观测模型	双频无电离层组合
测站数	60
待估参数	轨道、钟差、站坐标、系统偏差、接收机钟差、ERP
轨道参数	初始状态、光压
钟差模型	白噪声
截止高度角/（°）	7
定轨弧长	24 h解算+24 h预报
采样间隔/s	300
定权策略	E>30°P=1，E≤30°P=1/2sin（E），E为高度角
PCO与PCV	igs14.atx
模糊度	固定解
卫星姿态模型	BDS-3参考文献[8]
重力场	EGM 2008
固体潮模型	IERS 2010
相对论效应	IERS 2010

卫星系统	模型一/ns	模型二/ns	提升率/（%）
GPS	0.130	0.069	46.9
GLONASS	0.349	0.184	47.3
Galileo	0.248	0.098	60.5
BDS-3	0.249	0.103	58.6

卫星系统或原子钟类型	μ				σ
卫星系统或原子钟类型	5 s加密	15 s加密	30估计	30 s内插	5 s加密	15 s加密	30估计	30 s内插
GPS	6.63×10^-5	3.17×10^-5	2.37×10^-5	-2.40×10^-3	3.35×10^-2	4.99×10^-2	8.65×10^-2	1.25×10^-1
GLONASS	1.38×10^-4	4.92×10^-5	3.22×10^-5	8.78×10^-4	2.07×10^-2	2.91×10^-2	4.21×10^-2	1.25×10^-1
Galileo	6.86×10^-5	4.99×10^-5	-5.22×10^-6	1.27×10^-4	6.17×10^-3	6.68×10^-3	8.55×10^-3	1.69×10^-2
BDS-3	3.91×10^-5	1.20×10^-5	-2.41×10^-5	-2.34×10^-4	7.21×10^-3	9.78×10^-3	1.14×10^-2	1.53×10^-2
Rb	9.42×10^-5	6.62×10^-5	4.44×10^-5	9.14×10^-4	2.88×10^-2	3.56×10^-2	9.55×10^-2	2.12×10^-1
Cs	7.26×10^-5	5.46×10^-5	-5.78×10^-5	3.67×10^-4	9.43×10^-3	1.22×10^-2	1.67×10^-2	1.11×10^-1
PHM	2.23×10^-5	3.31×10^-5	3.33×10^-5	-1.68×10^-4	6.44×10^-3	7.36×10^-3	8.65×10^-3	2.22×10^-2

	PPP方案	定位精度/cm			收敛时间/min
	PPP方案	E	N	U	E	N	U
BDS-3	5 min超快速钟差	3.79	2.69	5.86	49.5	36	59.5
	30 s估计钟差	2.76	2.44	5.16	44.0	32.5	50.0
	提升率/（%）	27.2	9.3	11.9	11.1	9.7	16.0
	5 min钟差+状态	2.64	2.50	5.22	45.5	30.5	48.5
	提升率/（%）	30.3	7.1	10.9	8.1	15.3	18.5
	30 s WUM钟差	1.41	0.96	3.21	22	26.5	25.0
BDS-3+GPS	5 min超快速钟差	2.98	2.62	5.56	45.5	32.0	55.0
	30 s估计钟差	2.61	1.68	4.99	34.5	29.0	42.5
	提升率/（%）	12.4	35.9	10.3	24.2	9.4	22.7
	5 min钟差+状态	2.66	1.98	5.21	38.5	27.5	44.0
	提升率/（%）	10.7	24.4	6.3	15.4	14.1	20.0
	30 s WUM钟差	1.16	0.93	2.38	19.5	20.0	20.5
四系统	5 min超快速钟差	2.37	1.99	2.05	39.0	27.0	36.0
	30 s估计钟差	2.33	1.87	1.41	21.5	18.0	22.0
	提升率/（%）	1.7	6.0	31.2	44.9	33.3	38.9
	5 min钟差+状态	2.33	1.86	1.52	23.5	17.5	24.0
	提升率/（%）30 s WUM钟差	1.70.81	6.5 0.51	25.9 1.01	39.7 17.0	35.2 9.0	33.3 19.5

原子钟类型	千分秒稳定性	万分秒稳定性
Rb	5.12	15.18
Cs	2.88	11.25
PHM	1.14	2.36

顾及BDS-3/GNSS星钟状态的超快速钟差参数估计模型

BDS-3/GNSS satellite ultra-rapid clock offsets estimation model with the aid of onboard clock states solution

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参考文献 33

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PPP方案	钟差预报基础序列	定位精度/cm			收敛时间/min
PPP方案	钟差预报基础序列	E	N	U	E	N	U
BDS-3	策略一	2.84	3.02	5.88	56.0	42.0	58.5
	策略二	2.56	2.88	5.43	50.5	37.5	56.0
	提升率	9.9%	4.6%	7.7%	9.8%	10.7%	4.3%
四系统	策略一	2.54	2.59	4.78	31.0	30.5	44.5
	策略二	2.38	2.24	4.24	26.5	30.0	39.0
	提升率	6.3%	13.5%	11.3%	14.5%	1.6%	12.4%

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