一种用于电离层TEC监测的GNSS信号载波跟踪算法

全球卫星导航系统（GNSS）是电离层TEC监测中应用最普遍的手段. 目前方法通常是在传统导航用途的GNSS接收机输出的原始观测量基础上,经过数据后处理得到电离层TEC信息,其GNSS信号的跟踪处理算法依然采用GNSS导航接收机的算法. 针对GNSS系统用于电离层TEC监测的特殊性,提出一种称为GNSS双频信号和差联合跟踪的新算法,与传统方法相比,该算法直接跟踪电离层TEC的变化,可以提高电离层TEC跟踪的灵敏度和TEC的观测精度,改善电离层TEC监测性能.      

新一代卫星导航信号测量性能分析

导航信号的测量性能最终影响系统定位、测速、授时等服务精度, 是系统顶层设计的重要论证内容之一. 结合COMPASS系统新一代卫星导航信号体制框架设计, 分析了各种应用条件下的伪距、载波相位和多普勒测量精度, 并以典型设计参数为例进行了数值计算. 结果表明, 在接收机典型设计参数和工作条件下, 各信号分量均能够实现0.1m的伪距测量精度、0.006周的载波相位测量精度以及0.005m·s-1的多普勒测量精度. 首次给出的针对新信号体制各项测量性能的研究结果可为卫星导航系统信号体制设计、 导航接收机关键参数设计以及卫星导航系统用户测距误差预算等顶层设计提供参考.      

An improved approach to model regional ionosphere and accelerate convergence for precise point positioning

Given the severe effects of the ionosphere on global navigation satellite system (GNSS) signals, single-frequency (SF) precise point positioning (PPP) users can only achieve decimeter-level positioning results. Ionosphere-free combinations can eliminate the majority of ionospheric delay, but increase observation noise and slow down dual-frequency (DF) PPP convergence. In this paper, we develop a regional ionosphere modeling and rapid convergence approach to improve SF PPP (SFPPP) accuracy and accelerate DF PPP (DFPPP) convergence speed. Instead of area model, ionospheric delay is modeled for each satellite to be used as a priori correction. With the ionospheric, wide-lane uncalibrated phase delay (UPD) and residuals satellite DCBs product, the wide-lane observations for DF users change to be high-precision pseudorange observations. The validation of a continuously operating reference station (CORS) network was analyzed. The experimental results confirm that the approach considerably improves the accuracy of SFPPP. For DF users, convergence time is substantially reduced.     

基于三频数据的北斗卫星导航系统DCB参数精度评估方法

差分码偏差（Differential Code Biases,DCB）参数作为导航电文中重要的一项,是影响用户PNT服务的主要误差源之一。北斗卫星导航系统（后文简称“北斗系统”）发射三个频点的导航信号,在导航电文中需要发播卫星的2个TGD（Timing Group Delay）参数。文章首先介绍了北斗系统卫星DCB参数最小二乘解算与形式误差评估;其次根据北斗系统三频特点,提出了不同频点组合计算垂直方向电离层电子总含量（VTEC）互差的DCB精度定量评估方法,并与IGS(International GNSS Service)提供的GPS卫星DCB精度进行比较;最后,详细分析了DCB参数精度对用户等效距离误差（UERE）计算和定位计算的影响,分别采用卫星出场标定DCB参数和经过解算DCB参数进行评估。实测数据分析结果表明,北斗系统卫星DCB参数解算形式误差与IGS解算GPS卫星DCB参数形式误差相当,但受卫星类型和解算测站的几何分布限制,北斗系统卫星DCB参数解算不确定度相比IGS略差,估计精度优于0.5ns,不同频率组合计算VTEC互差绝对值均值优于0.6TECU。相比采用卫星出场标定值,采用系统解算DCB参数后,双频用户三维位置误差改善13.80%～47.42%。     

Demonstration of a high sensitivity GNSS software receiver for indoor positioning

Advances in signal processing techniques contributed to the significant improvements of GNSS receiver performance in dense multipath environments and created the opportunities for a new category of high-sensitivity GNSS (HS-GNSS) receivers that can provide GNSS location services in indoor environments. The difficulties in improving the availability, reliability, and accuracy of these indoor capable GNSS receivers exceed those of the receivers designed for the most hostile urban canyon environments. The authors of this paper identified the vector tracking schemes, signal propagation statistics, and parallel processing techniques that are critical to a robust HS-GNSS receiver for indoor environments and successfully incorporated them into a fully functional high-sensitivity software receiver. A flexible vector-based receiver architecture is introduced to combine these key indoor signal processing technologies into GSNRx-hs™ – the high sensitivity software navigation receiver developed at the University of Calgary. The resulting receiver can perform multi-mode vector tracking in indoor environment at various levels of location and timing uncertainties. In addition to the obvious improvements in time-to-first-fix (TTFF) and signal sensitivity, the field test results in indoor environments surrounded by wood, glass, and concrete showed that the new techniques effectively improved the performance of indoor GNSS positioning. With fine GNSS timing, the proposed receiver can consistently deliver indoor navigation solution with the horizontal accuracy of 2–15 m depending on the satellite geometry and the indoor environments. If only the coarse GNSS timing is available, the horizontal accuracy of the indoor navigation solution from the proposed receiver is around 30 m depending on the coarse timing accuracy, the satellite geometry, and the indoor environments. From the preliminary field test results, it has been observed that the signal processing sensitivity is the dominant factor on the availability of the indoor navigation solution, while the GNSS timing accuracy is the dominant factor on the accuracy of the indoor navigation solution.     

An iterative LiDAR DEM-aided algorithm for GNSS positioning in obstructed/rapidly undulating environments

This paper describes a new algorithm to aid stand-alone GNSS positioning in areas of bad signal reception using a Digital Elevation Model (DEM). Traditional Height-Aiding (HA) algorithms assume either a preset (fixed) value for the receiver elevation or rely on the elevation value that corresponds to the nearest available position fix. This may lead in erroneous receiver elevation estimates that, under circumstances, are inefficient to aid effectively GNSS positioning. In this study, the receiver elevation is updated at every iteration step of the navigation solution through dynamic interpolation of the elevation model. The algorithm, because of its ability to extract and fully exploit the elevation information derived from a digital model, it can prove particularly useful in forested areas with steep-sloped terrain. Extended test runs were undertaken to validate the correctness of the mathematical model and the feasibility of the algorithm and associated software. Particularly, analysis of a dataset acquired in a forested, rapidly undulating environment reveals significant average improvement in all performance metrics of positioning, namely the GNSS position availability (50%), accuracy (56%) and external reliability (86%) compared to the Standard Point Positioning (SPP) solution. Moreover, it was found that the method can cope successfully in marginal operating conditions with situations of bad satellite geometry and satellite signals affected by interference due to tree canopy.     

GNSS信号模拟器通道群时延标定方法

传统的全球导航卫星系统(GNSS)信号模拟器通道群时延标定方法有相位翻转点法和相关峰法两种,两者均在零伪距或固定伪距的特殊仿真场景下进行测量,且在通道传输特性非理想的情况下测得的群时延均存在偏差.提出了基于闭环伪距测量的模拟器通道群时延标定方法,并设计实现了GNSS信号模拟器通道群时延标定系统.首先,采用高速直接射频采样存储系统对模拟器正常星座动态仿真场景下输出的导航信号和秒脉冲(1 PPS)信号同时进行记录.其次,使用软件接收机对信号进行捕获跟踪,利用三次样条插值判定1 PPS上升沿位置作为伪距观测历元时刻,对软件接收机的伪距观测量和模拟器仿真的伪距记录值做数据比对,得到模拟器的群时延标定值.最后,分别利用上述方法对两种商用模拟器的群时延进行了标定,实验结果表明,闭环伪距测量法有效可行,测量不确定度优于0.7 ns.      

发射系下的SINS/CNS/GNSS组合导航UKF滤波算法

弹载系统的组合导航系统模型常建立在发射惯性坐标系下,且捷联惯性/天文导航/卫星导航（SINS/CNS/GNSS）是一种目前研究较多的组合模式。该组合导航系统的状态方程具有强非线性的特点,常用的滤波方法为扩展卡尔曼滤波（EKF）。为了提高组合导航系统的精度及可靠性,对该组合导航系统的无迹卡尔曼滤波（UKF）模型进行了设计,直接将姿态、位置与速度参数作为状态的一部分,利用CNS及GNSS提供的姿态与位置构成量测方程,并详细给出了姿态样本点的生成、均值及方差的生成过程。仿真结果表明,相对于EKF算法,采用UKF算法后各导航参数的精度可提高约20%~30%,并且系统的实时性也可以得到保证。     

一种适用于高轨空间的GNSS矢量跟踪方案设计

高轨空间中全球卫星导航系统（GNSS）信号可用性严重变差，对GNSS接收机的跟踪性能提出更高要求。利用GNSS信号传播链路模型分析了高轨空间GNSS信号特点，对比了标量跟踪和矢量跟踪这2类典型跟踪环路在高轨空间的适用性，进而设计了一种适用于高轨空间的GNSS矢量跟踪方案。该方案通过估计载噪比确定量测噪声方差阵，以对各通道量测信息进行加权处理来获得高精度的导航参数；并根据高轨航天器的动态性能确定过程噪声方差阵，利用轨道动力学模型对导航参数进行一步预测，从而实现了对各通道信号跟踪参数的准确预测及联合跟踪。仿真验证表明:所设计的跟踪方案可实现高轨空间中强信号对弱信号的辅助跟踪，从而提高了高轨空间中弱信号的跟踪性能及可用性，并对中断信号具有一定的桥接能力。      

Evaluation and analysis on positioning performance of BDS/QZSS satellite navigation systems in Asian-Pacific region

By using the observation data and products of precise obit and clock offset from Multi-GNSS Experiment (MGEX) of the International GNSS Service (IGS) and GNSS Research Centre, Curtin University in this paper, the positioning performance of BDS/QZSS satellite navigation system has been analyzed and evaluated in aspects of the quantity of visible satellites, DOP value, multipath effect, signal-to-noise ratio, static PPP and kinematic PPP. The analysis results show that compared to BDS single system when the cutoff angle are 30°and 40°, the DOP value of BDS/QZSS combined system has decreased above 20%, and the quantity of visible satellites increased about 16–30% respectively, because of the improved spatial geometric configuration. The magnitude of satellite multipath effect of BDS system shows the trend of MEO?>?IGSO?>?GEO, which is consistent with that of QZSS satellite system, as the constellation structure of the two systems is similar. The variation tendencies of signal-to-noise ratio with respect to elevation angle of the two systems are almost the same at all frequencies, showing that at the same elevation angle the signal-to-noise ratio of MEO satellites is higher than that of IGSO satellites, as the higher obit is the lower transmitting power is obtained. For having a specially designed obit, the variation of signal-to-noise ratio of BDS system is more stable. However, the magnitude of signal-to-noise ratio of QZSS system appears the trend of frequency 3?>?frequency 2?>?frequency 1. The static PPP performance of the BDS/QZSS combination system has been improved more significantly than the BDS single system in E, N and U directions. When the cutoff angle are at 7°, 15° and 30°, the PPP accuracy is increased about 25–34% in U direction, 10–13% and 23–34% in E and N directions respectively. When the elevation angle is large (40°), compared to BDS single system at lower elevation angles (7° and 15°) the PPP accuracy of the BDS/QZSS combination system is improved above 30% in U direction. In kinematic PPP performance, compared to BDS single system, the accuracy, availability and reliability of the BDS/QZSS combination system has been improved too, especially at large elevation angles (30° and 40°), the kinematic PPP accuracy in E and U directions has been improved about 10–50%, and above 50% in U direction. It can be concluded that the combination with QZSS system can improve the positioning accuracy, reliability and stability of BDS system. In the future, with the improvement of the satellite construction of Japan’s QZSS system and the global networking of China’s BDS satellites, the QZSS satellites will contribute greatly to improve the positioning accuracy, reliability, availability and stability of GNSS systems in areas such as cities, mountains, densely-packed buildings and severely covered areas in Asian-Pacific region.     

基于地面基站的定位系统构建和方案

针对大型、复杂、多功能建筑,其内部信号环境恶劣,卫星导航的信号衰减较大,较难稳定捕获跟踪,建筑内多径效应严重,短多径对定位精度的影响较大,直接使用卫星导航信号进行定位难度大的问题,提出了一种基于地面基站的大区域（建筑群）室内定位方案。根据频率与信号穿透性能和空间衰减之间的关系,选择甚高频频段作为信号载波,采用码伪距和载波伪距联合定位的方式,可同时兼顾覆盖性和定位性能。利用所提出的新型定位方式,搭建了一个基本测试系统,通过信号的产生、发射、无线传播,进行了信号的捕获、跟踪和伪距求差解算,初步验证了本文方法的可行性及覆盖能力。      

Low-cost precise measurement of oscillator frequency instability based on GNSS carrier observation

Global navigation satellite systems (GNSS) receivers can be used in time and frequency metrology by exploiting stable GNSS time scales. This paper proposes a low-cost method for precise measurement of oscillator frequency instability using a single-frequency software GNSS receiver. The only required hardware is a common radio frequency (RF) data collection device driven by the oscillator under test (OUT). The receiver solves the oscillator frequency error in high time resolution using the carrier Doppler observation and the broadcast ephemeris from one of the available satellites employing the onboard reference atomic frequency standard that is more stable than the OUT. Considering the non-stable and non-Gaussian properties of the frequency error measurement, an unbiased finite impulse response (FIR) filter is employed to obtain robust estimation and filter out measurement noise. The effects of different filter orders and convolution lengths are further discussed. The frequency error of an oven controlled oscillator (OCXO) is measured using live Beidou-2/Compass signals. The results are compared with the synchronous measurement using a specialized phase comparator with the standard coordinated universal time (UTC) signal from the master clock H226 in the national time service center (NTSC) of China as its reference. The Allan deviation (ADEV) estimates using the two methods have a 99.9% correlation coefficient and a 0.6% mean relative difference over 1–1000 s intervals. The experiment demonstrates the effectiveness and high precision of the software receiver method.     

一种高动态环境下卫星扩频信号的快速捕获方法研究

现代卫星导航及测控应用对接收机在高动态环境下实现测量通信提出了迫切需求。为了解决大多普勒频偏扩频信号的快速捕获问题,提出了一种在频域并行搜索码相位及多普勒频偏的双频域快速捕获方法。采用双块补零算法将长的相关积分操作分割为多个短的相关积分操作,然后采用快速傅里叶变换进行圆周相关,大大节约了处理时间,利用频域圆周移位与时域载波剥离等价的原理,大幅提高了频率搜索效率。与时域相关算法和单频域计算方法相比,在捕获灵敏度不变的条件下,该方法将计算量减少90%,显著提高了运算速度,适合高动态环境下扩频信号的快速捕获。该方案应用于星载接收机平台FPGA实现,测试结果表明该方案可以在0.1s内完成±500kHz频偏下扩频信号捕获。     

GNSS geodetic techniques for time and frequency transfer applications

We performed an initial analysis of the pseudorange data of the GIOVE-B satellite, one of the two experimental Galileo satellites currently in operation, for time transfer.¹ For this specific aim, software was developed to process the GIOVE-B raw pseudoranges and broadcast navigation messages collected by the Galileo Experimental Sensor Stations (GESS) tracking network, yielding station clock phase errors with respect to the Experimental Galileo System Time (EGST). The software also allows processing the Global Positioning System (GPS) P1 and P2 pseudorange data with broadcast navigation message collected at the same stations to obtain the station clock phase errors with respect to the GPS system time (GPST). Differencing these solutions between stations provides two independent means of GNSS time transfer. We compared these time transfer results with Precise Point Positioning (PPP) method applied to GPS data in combined carrier-phase and pseudorange mode as well as in pseudorange-only mode to show their relative merits. The PPP solutions in combined carrier-phase and pseudorange mode showed the least instability of the methods tested herein at all scales, at few parts in 10¹⁵ at 1 day for the stations processed, following a tau^−½ interval dependency. Conversely, the PPP solutions in pseudorange-only mode are an order of magnitude worst (few parts in 10¹⁴ at 1 day for the stations processed) following a tau⁻¹ power-law, but slightly better than the single-satellite raw GPS time transfer solutions obtained using the developed software, since the PPP least-squares solution effectively averages the pseudorange noise. The pseudorange noise levels estimated from PPP pseudorange residuals and from clock solution comparisons are largely consistent, providing a validation of our software operation. The raw GIOVE-B time transfer, as implemented in this work, proves to be slightly better than single-satellite raw GPS satellite time transfer, at least in the medium term. However, one of the processed stations shows a combined GPS P1 and P2 pseudorange noise level at 2 m, a factor 2 worst than usually seen for geodetic receivers, so the GPS time transfer results may not be at their best for the cases processed. Over the short term, the GPS single-satellite time transfer instability outperforms the GIOVE-B by an order of magnitude at 1 s interval, which would be due to the different characteristics of the tracking loop filters for GPS P1 and P2 on one hand and the GIOVE-B signals on the other. Even at this preliminary stage and using an experimental satellite system, results show that the GIOVE-B (and hence Galileo) signals offer interesting perspectives for high precision time transfer between metrological laboratories.     

基于GNSS的高轨卫星定位技术研究

利用全球卫星导航系统(GNSS)进行导航定位具有全球、全天候、实时和高精度的优点,应用于高地球轨道(HEO)卫星的定位,能够提供精确的轨道和姿态确定,并且可以克服目前主要利用地面测控系统对HEO卫星进行定位的设备复杂、投资高等缺点,使得自主导航成为可能.本文对利用GNSS的高轨卫星定位相关技术进行了研究,分析了单一GNSS系统和多个GNSS组合系统的卫星可见性、动态性和几何精度因子(GDOP).通过仿真分析表明,利用组合GNSS系统并通过提高GNSS接收机灵敏度的方法,可以解决GNSS进行HEO卫星定位的相关问题,并能保证HEO卫星定位精度的要求.      

载波相位/捷联惯导组合对高轨飞行器的导航

高轨飞行器可用卫星数目较少,信号空间链路损耗大,使用伪距进行测量的精度较低.提出基于GNSS(Global Navigation Satellite System)卫星载波相位与捷联惯导紧组合方法对高轨机动飞行器进行自主导航.该方法将连续跟踪的卫星初次可用时的整周模糊度的浮点解作为状态变量,通过平方根UKF建立了组合导航非线性滤波模型,提出了基于整周浮点解交集的滤波器故障检测方法.研究表明,提出的组合导航方法充分利用了载波相位高测量精度和系统性误差缓变的特点,提高了系统的可靠性和精度.     

The multi-source data fusion global ionospheric modeling software—IonoGim

We introduce a new global ionospheric modeling software—IonoGim, using ground-based GNSS data, the altimetry satellite and LEO (Low Earth Orbit) occultation data to establish the global ionospheric model. The software is programmed by C++ with fast computing speed and highly automatic degree, it is especially suitable for automatic ionosphere modeling. The global ionospheric model and DCBs obtained from IonoGim were compared with the CODE (Center for Orbit Determination in Europe) to verify its accuracy and reliability. The results show that IonoGim and CODE have good agreement with small difference, indicating that IonoGim owns high accuracy and reliability, and can be fully applicable for high-precision ionospheric research. In addition, through comparison between only using ground-based GNSS observations and multi-source data model, it can be demonstrated that the space-based ionospheric data effectively improve the model precision in marine areas where the ground-based GNSS tracking station lacks.     

新型GNSS信号波形设计

在发射带宽严格受限的约束下连续函数波形信号较传统矩形波形表现出了较高的频谱利用率优势和优良性能,很有可能应用到未来的全球卫星导航系统(GNSS,Global Navigation Satellite System)信号体制中.在建立导航信号波形设计准则的理论模型基础上,研究了7种可能适用于未来GNSS系统的新型信号波形,在典型的宽/窄发射带宽条件下,通过仿真评估了传统GNSS信号和新型GNSS信号的精度、抗多径、抗干扰等性能,优选出BOCc和MSK两种适用于不同环境的信号波形: 在频谱资源充足的情况下,BOCc信号具有最优的导航性能;在频率资源受限的情况下,MSK信号兼容性好,抗干扰能力强,拥有较好的导航性能.最后,结合两类信号波形的优缺点提出了我国新一代卫星导航系统信号波形设计的建议.     

Inertial aided BDS triple-frequency integer ambiguity rounding method

The integer ambiguity resolution (AR) of carrier phase is significant for Global Navigation Satellite System (GNSS) precise positioning. However, in kinematic case, single-epoch AR methods based on alone GNSS are usually not reliable due to the instable pseudorange accuracy. Moreover, the computation of classical AR method Least Squares Ambiguity Decorrelation Adjustment (LAMBDA) is large. Thus, the inertial measurement unit (IMU) is introduced, a new inertial-aided AR method that directly rounds the float ambiguity of BeiDou triple-frequency combined observations, which is characterized by long wavelength, low carrier-phase noise and ionospheric delay, is proposed. The mathematical model of the new method is derived first. Then the impacts of the carrier-phase noise, ionospheric delay and inertial navigation system (INS) position error on the AR success ratio of combined observation are analyzed through probabilistic approach. Based on above investigation, the combinations (0, ?1, 1), (1, 4, ?5) and (4, ?2, ?3) are selected to resolve the original ambiguity. A vehicular integrated navigation test is performed to demonstrate the proposed method. The results show that the average AR success ratios of the three selected combinations, whose float ambiguity errors are 0.041, 0.146, 0.279 cycle respectively, are above 97.25% without regard to low-elevation C05. With respect to positioning accuracy based on our AR method when compared with IE software, the east, north, up error RMS of position are 0.042, 0.024, 0.069 m, respectively. In terms of the AR recover after the BeiDou signals outage, as long as 62 s BeiDou signal complete outage, all the ambiguities of all satellites could be re-fixed immediately. Besides, during the 90 s signals partial outage, the AR is not influenced by the position error, since the float ambiguity errors are all below half-cycle. The research of this contribution demonstrates the effectiveness of the proposed new method, which indicates it is applicable to kinematic positioning, even in BDS degraded and denied environments.     

Early analysis of precise orbit and clock offset determination for the satellites of the global BeiDou-3 system

Eight new-generation BeiDou satellites (BeiDou-3) have been launched into Medium Earth Orbit (MEO), allowing for global coverage since March 2018, and they are equipped with new hydrogen atomic clocks and updated rubidium clocks. Firstly, we analyzed the signals for the carrier-to-noise-density ratio (C/N0) and pseudorange multipath (MP) by using international GNSS (Global Navigation Satellite System) Monitoring and Assessment System (iGMAS) station data, and found that B1C has a lower C/N0, and B2a has the same level of C/N0 as the B1I and B3I signals. For pseudorange multipath, compared with the BeiDou-2 satellites, the obvious systematic variation of MP scatters related to the elevation angle is greatly improved for the BeiDou-3 and BeiDou-3e satellites signals. For the signals of the BeiDou-3 satellites, the order of the Root Mean Square (RMS) values of multipath and noise is B3I?<?B1I?<?B2a?<?B1C. Then, the comparison of the precise orbit determination and clock offset determination for the BeiDou-2, BeiDou-3, and BeiDou-3 experimental (BeiDou-3e) satellites was done by using 10 stations from iGMAS. The 3D precision of the 24?h orbit overlap is 24.55, 25.61, and 23.35?cm for the BeiDou-3, BeiDou-3e, and BeiDou-2 satellites, respectively. BeiDou-3 satellite has a comparable precision to that of the BeiDou-2 satellite. For the precision of clock offset estimation, the Standard Deviation (STD) of the BeiDou-3 MEO satellite is 0.350?ns, which is an improvement of 0.042?ns over that of the BeiDou-2 MEO satellite. The stabilities of the BeiDou-3 and BeiDou-3e onboard clocks are better than those of BeiDou-2 by factors of 2.84 and 1.61 at an averaging time of 1000 and 10,000?s, respectively.