Phase Residual Estimations for PCVs of Spaceborne GPS Receiver Antenna and Their Impacts on Precise Orbit Determination of GRACE Satellites

In-flight phase center systematic errors of global positioning system(GPS) receiver antenna are the main restriction for improving the precision of precise orbit determination using dual-frequency GPS.Residual approach is one of the valid methods for in-flight calibration of GPS receiver antenna phase center variations(PCVs) from ground calibration.In this paper,followed by the correction model of spaceborne GPS receiver antenna phase center,ionosphere-free PCVs can be directly estimated by ionosphere-free carrier phase post-fit residuals of reduced dynamic orbit determination.By the data processing of gravity recovery and climate experiment(GRACE) satellites,the following conclusions are drawn.Firstly,the distributions of ionosphere-free carrier phase post-fit residuals from different periods have the similar systematic characteristics.Secondly,simulations show that the influence of phase residual estimations for ionosphere-free PCVs on orbit determination can reach the centimeter level.Finally,it is shown by in-flight data processing that phase residual estimations of current period could not only be used for the calibration for GPS receiver antenna phase center of foretime and current period,but also be used for the forecast of ionosphere-free PCVs in future period,and the accuracy of orbit determination can be well improved.     

双线程滑动窗口多系统GNSS超快精密定轨实现及评估

全球导航卫星系统（GNSS）超快精密定轨为GNSS实时应用提供了高精度空间基准。基于天地协同定位、导航与授时（PNT）网络服务中心实现了四系统GNSS卫星超快精密定轨,并对定轨结果进行精度评价。介绍了天地协同PNT网络的概念内涵以及网络服务中心部署的超快精密定轨软件架构和详细功能,并针对实时应用需求提出了一种双线程滑动窗口超快精密定轨策略。最后利用重叠弧段比较、与外部轨道产品比较以及卫星激光测距（SLR）检核3种方式对定轨结果进行了精度评价。结果表明,与武汉大学分析中心的最终事后精密轨道产品相比,四系统GNSS MEO卫星预报6 h弧段的径向均方根（RMS）误差整体在2~5 cm水平,BDS2 IGSO卫星最小一维RMS误差在10~15 cm水平;GPS和Galileo卫星的SLR检核残差均值在1~3 cm水平,标准差在3~6 cm水平,能够满足后续厘米级实时应用对空间基准的精度需求。     

多机构比对融合的分布式InSAR编队星间基线确定

星间基线高精度确定是分布式干涉合成孔径雷达（InSAR）系统完成科学任务的重要保证,受星载全球定位系统（GPS）接收机连续跟踪弧段短、个别弧段共视GPS卫星个数少或模糊度固定成功率低、频繁轨道机动等因素影响,分布式InSAR高精度基线确定仍有不可靠的风险。通过多机构产品互比来识别基线精度较差的时间段,降低不可靠风险,并通过多机构产品融合进一步提高基线精度。选用重力反演与气候实验（GRACE）卫星数据进行实验,国防科技大学（NDT）和西安测绘研究所（CHS）采用不同的基线处理软件和简化动力学策略,保证了各自的基线产品具有一定的独立性。实验表明,多机构互比对可以有效识别基线精度较差的时间段,NDT和CHS的基线产品之间具有很好的一致性,互比对残差的均方根（RMS）在R、T、N方向分别为0.7、0.9、0.7 mm,二者之间没发现明显系统偏差,大约97.86%的基线三维互比对残差量级在2 mm以内。两个机构基线产品融合后发现可进一步降低基线产品中的随机波动误差,K/Ka波段测距（KBR）系统校核结果表明融合基线产品精度较NDT基线产品提高8.97%,较CHS基线产品提高29.21%。     

Precise orbit determination for TH02-02 satellites based on BDS3 and GPS observations

The Tianhui-2 02 (TH02-02) satellite formation, as a supplement to the microwave mapping satellite system Tianhui-2 01 (TH02-01), is the first Interferometric Synthetic Aperture Radar (InSAR) satellite formation-flying system that supports the tracking of BeiDou global navigation Satellite system (BDS3) new B1C and B2a signals. Meanwhile, the twin TH02-02 satellites also support the tracking of Global Positioning System (GPS) L1&L2 and BDS B1I&B3I signals. As the spaceborne receiver employs two independent boards to track the Global Navigation Satellite System (GNSS) satellites, we design an orbit determination strategy by estimating independent receiver clock offsets epoch by epoch for each GNSS to realize the multi-GNSS data fusion from different boards. The performance of the spaceborne receiver is evaluated and the contribution of BDS3 to the kinematic and reduced-dynamic Precise Orbit Determination (POD) of TH02-02 satellites is investigated. The tracking data onboard shows that the average number of available BDS3 and GPS satellites are 8.7 and 9.1, respectively. The carrier-to-noise ratio and carrier phase noise of BDS3 B1C and B2a signals are comparable to those of GPS. However, strong azimuth-related systematic biases are recognized in the pseudorange multipath errors of B1C and B3I. The pseudorange noise of BDS3 signals is better than that of GPS after eliminating the multipath errors from specific signals. Taking the GPS-based reduced-dynamic orbit with single-receiver ambiguity fixing technique as a reference, the results of BDS3-only and BDS3 + GPS combined POD are assessed. The Root Mean Square (RMS) of orbit comparison of BDS3-based kinematic and reduced-dynamic POD with reference orbit are better than 7 cm and 3 cm in three-Dimensional direction (3D). The POD performance based on B1C&B2a data is comparable to that based on B1I&B3I. The precision of BDS3 + GPS combined kinematic orbit can reach up to 3 cm (3D RMS), which has a more than 25% improvement relative to the GPS-only solution. In addition, the consistency between the BDS3 + GPS combined reduced-dynamic orbit and the GPS-based ambiguity-fixed orbit is better than 1.5 cm (3D RMS).     

Inter-satellite link augmented BeiDou-3 orbit determination for precise point positioning

Precise Point Positioning(PPP) requires precise products, including high-accuracy satellite orbit and clock parameters. It is impossible to obtain an orbit solution that is sufficiently accurate for PPP services with a regional tracking network; therefore, satellite orbits are usually estimated by a global tracking network with a large number of ground stations. However, it is expensive to build globally distributed stations. Fortunately, BeiDou-3 satellites carry an InterSatellite Link(ISL) pay...     

广播星历旋转误差对低轨星载BDS-3/GPS实时精密定轨影响分析

基于LT-01A卫星星载BDS-3/GPS观测值进行了星载实时精密定轨研究,并重点分析了广播星历旋转误差对实时定轨精度的影响。通过赫尔默特转换评估了所选时段内GPS和BDS-3广播星历轨道旋转误差,显示BDS-3广播星历旋转误差可达-8.7 mas,平均量级较GPS大约2.5倍。BDS-3广播星历经旋转改正后,轨道切向、法向均方根(RMS)误差从25 cm左右提升至10 cm量级,提升幅度超过50%。因此,基于星载BDS-3以及BDS-3/GPS联合的实时定轨精度受BDS-3星历旋转误差影响严重,且主要作用于切向和法向。经过旋转改正后,单独BDS-3实时定轨在切向、法向、径向RMS分别为21.0 cm、10.7 cm及11.2 cm,其切向和法向精度比改正前分别提升15.0%和31.8%;BDS-3与GPS联合定轨进一步提升切向精度至19.4 cm。得益于BDS-3广播星历较高的精度,单BDS-3以及BDS-3/GPS联合的实时定轨在旋转改正前的三维RMS分别为31.9 cm和29.2 cm,较单GPS实时定轨分别提升9.1%和16.8%;添加旋转改正后,其定轨精度分别提升至26.7 ...     

星载双频GPS相位历元差缩减动力学定轨(英文)

研究了星载双频GPS相位历元差缩减动力学定轨方法,该方法既克服了相位历元差运动学方法在观测几何较差或数据不足情况下无法应用的缺点,又避免了相位非差动力学方法易受周跳和模糊度影响的缺点。历元差方法对相位周跳的影响不敏感,因此能够降低相位数据预处理中周跳探测的难度。在模型求解过程中,解决了高维矩阵的计算问题,将长弧段观测数据分成若干短弧段,相邻两个短弧段的连接处不做差分,仅在每个短弧段内部进行历元间差分处理。通过对GRACE卫星进行试算,并与GFZ事后科学轨道进行比较,结果表明相位历元差缩减动力学定轨精度在径向、沿迹方向和轨道法向分别可达1.92cm、3.83cm和3.80cm,三维位置精度可达5.76cm,该方法与相位非差缩减动力学定轨精度相当。     

星载GPS测量数据预处理方法研究

针对低地球轨道(LEO)卫星星载全球定位系统(GPS)接收机应用的特点,对星载GPS测量数据误差及其对周跳探测的影响进行了分析,提出TurboEdit数据预处理方法中周跳探测算法的改进算法。在原周跳判断算法的基础上,通过引入与测量数据观测高度角相关的加权系数,将周跳探测与测量误差紧密联系起来。根据观测高度角的变化对测量数据误差进行估计,并根据估计情况对加权系数取值,从而实现对周跳探测算法进行调节,达到降低周跳探测失误率的目的。增加参与定轨计算的观测数据量,提高了低轨卫星连续定轨的能力。通过GRACE编队卫星实测数据对改进算法进行了仿真验证。     

Enhanced baseline determination for formation flying LEOs by relative corrections of phase center and code residual variations

Formation flying Low Earth Orbiters(LEOs) are important for implementing new and advanced concepts in Earth observation missions. Precise Baseline Determination(PBD) is a prerequisite for LEOs to complete specified mission targets. PBD is usually performed based on space-borne GNSS data, the relative corrections of phase center and code residual variations play crucial roles in achieving the best relative orbit accuracy. Herein, the influences of antenna Relative Phase Centre Variations(RPCVs) a...     

HOI延迟对LEO卫星简化动力学POD的影响

通常使用无电离层(IF)线性组合(LC)消除低地球轨道(LEO)卫星简化动力学精密定轨(POD)一阶电离层延迟误差,忽略了高阶电离层(HOI)延迟误差。随着LEO卫星POD技术的发展,计算不同轨道高度的HOI延迟并探索其变化已成为进一步提高POD精度的重要手段。首先,使用国际参考电离层-2016(IRI-2016)和国际地磁参考场第13代(IGRF-13)模型,计算电离层穿刺点(IPP)位置和地磁场强度。其次,使用平滑星载GNSS数据计算电离层斜路径总电子含量(STEC)。然后,分别计算GOCE、GRACE-A和SWARM-A/B卫星的二阶和三阶电离层延迟。最后,评估了HOI延迟对LEO卫星重叠轨道分析、卫星激光测距(SLR)检核和精密科学轨道(PSO)比较结果的影响。实验结果表明：HOI延迟对LEO卫星简化动力学POD的影响大约在毫米至厘米的数量级上;HOI延迟对LEO卫星简化动力学POD外符合精度的影响分别达到0.92,0.22,0.21和0.18 mm;随着LEO卫星轨道高度的增加,HOI延迟对LEO卫星简化动力学POD的影响减小。     

A demonstration of sub meter GPS orbit determination and highprecision user positioning

High-accuracy orbits have been determined for satellites of the Global Positioning System (GPS), with submeter orbit accuracy demonstrated for two well-tracked satellites. Baselines of up to 2000 km in North America determined with the GPS orbits shows daily repeatability of 0.3-2 parts in 10⁸ and agree with very long baseline interferometry (VLBI) solutions at the level of 1.5 parts in 10 ⁸. Tests used to assess orbit accuracy include orbit repeatability from independent data sets, orbit prediction, ground baseline determination, and formal errors. One satellite tracked for eight hours each day shows RMS errors below 1 m even when predicted more than three days outside of a 1-week data arc. These results demonstrate the powerful relative positioning capability available from differential GPS tracking. Baselines have also been estimated between Florida and sites in the Caribbean region over 1000 km away, with daily repeatability of 1-4 parts in 10⁸. The best orbit estimation strategies included data arcs of 1-2 weeks, process noise models for tropospheric fluctuations, combined processing of GPS carrier phase and pseudorange data, and estimation of GPS solar pressure coefficients     

Basic performance of BeiDou-2 navigation satellite system used in LEO satellites precise orbit determination

The visibility for low earth orbit（LEO） satellites provided by the BeiDou-2 system is analyzed and compared with the global positioning system（GPS）. In addition, the spaceborne receivers＇ observations are simulated by the BeiDou satellites broadcast ephemeris and LEO satellites orbits. The precise orbit determination（POD） results show that the along-track component accuracy is much better over the service area than the non-service area, while the accuracy of the other two directions keeps at the same level over different areas. However, the 3-dimensional（3D） accuracy over the two areas shows almost no difference. Only taking into consideration the observation noise and navigation satellite ephemeris errors, the 3D accuracy of the POD is about30 cm. As for the precise relative orbit determination（PROD）, the 3D accuracy is much better over the eastern hemisphere than that of the western hemisphere. The baseline length accuracy is 3.4 mm over the service area, and it is still better than 1 cm over the non-service area. This paper demonstrates that the BeiDou regional constellation could provide global service to LEO satellites for the POD and the PROD. Finally, the benefit of geostationary earth orbit（GEO） satellites is illustrated for POD.     

低成本U-blox模块的单频GPS/BDS增强PPP定位性能分析

以U-blox单频接收机采集数据,在GPS与GPS/BDS两种解算模式下进行局域增强精密单点定位(PPP)解算,并进行模糊度固定,对其在不同环境下的定位性能进行实验研究和分析。实验结果表明:在静态环境下,GPS/BDS浮点解收敛至cm级需3min左右,较GPS缩短64%,GPS/BDS定位精度RMS在平面与高程方向分别为(3.2cm,2.7cm),较GPS提升(47%,59%);GPS/BDS在30s左右可固定模糊度,固定后定位精度为(0.4cm,1.0cm),较GPS/BDS浮点解提升(88%,63%)。在动态环境下,GPS/BDS浮点解收敛至cm级需4min左右,较GPS提升59%,定位精度为(3.1cm,5.9cm),较GPS提升(34%,43%);GPS/BDS获得固定解需2min左右,固定后定位精度为(0.7cm,1.0cm),较GPS/BDS浮点解提升(77%,83%)。     

Spacecraft orbit determination using GPS navigation solutions

The orbit determination using the GPS navigation solutions for the KOMPSAT-1 spacecraft has been studied. The Cowell method of special perturbation theories was employed to develop a precision orbit propagation, and the perturbations due to geopotential, the gravity of the Sun and the Moon, solid Earth tides, ocean tides, the Earth's dynamic polar motion, solar radiation pressure, and atmospheric drag were modeled. Specifically, the satellite box-wing macro model was applied to minimize the drag errors at low altitude. The estimation scheme consisted of an extended Kalman filter and Bayesian least square method. To investigate the applicability of the method to the KOMPSAT-1 spacecraft, the orbit determination was accomplished using the GPS navigation solutions for the TOPEX/POSEIDON and TAOS satellites. The orbit determination results were compared with NASA POE generated by global laser tracking. The position and velocity accuracy was estimated about 16∼7 m and 0.0157∼0.0074 m·s⁻¹ RMS, respectively, for the two satellites in the presence of SA. These results verify that an orbit determination scheme using GPS navigation solutions can provide the static orbit information and reduce conspicuously the position and velocity errors of navigation solutions. It can be suggested that the sequential and batch orbit determination using the GPS navigation solutions be the most appropriate method in the KOMPSAT-1 type mission.     

Aiming at a 1-cm Orbit for Low Earth Orbiters: Reduced-Dynamic and Kinematic Precise Orbit Determination

The computation of high-accuracy orbits is a prerequisite for the success of Low Earth Orbiter (LEO) missions such as CHAMP, GRACE and GOCE. The mission objectives of these satellites cannot be reached without computing orbits with an accuracy at the few cm level. Such a level of accuracy might be achieved with the techniques of reduced-dynamic and kinematic precise orbit determination (POD) assuming continuous Satellite-to-Satellite Tracking (SST) by the Global Positioning System (GPS). Both techniques have reached a high level of maturity and have been successfully applied to missions in the past, for example to TOPEX/POSEIDON (T/P), leading to (sub-)decimeter orbit accuracy. New LEO gravity missions are (to be) equipped with advanced GPS receivers promising to provide very high quality SST observations thereby opening the possibility for computing cm-level accuracy orbits. The computation of orbits at this accuracy level does not only require high-quality GPS receivers, but also advanced and demanding observation preprocessing and correction algorithms. Moreover, sophisticated parameter estimation schemes need to be adapted and extended to allow the computation of such orbits. Finally, reliable methods need to be employed for assessing the orbit quality and providing feedback to the different processing steps in the orbit computation process. This revised version was published online in August 2006 with corrections to the Cover Date.     

轨道预测辅助GPS载波跟踪技术用于低轨道卫星定位研究

针对低轨道卫星及其特定的运动环境,研究了星载GPS接收机载波跟踪问题。基于卫星轨道可模化、可预测的特性,提出了利用预测卫星轨道计算多普勒频移,并用于辅助载波环路跟踪的新方法。该方法有效地降低了低轨道卫星GPS信号跟踪中的动态,从而在跟踪过程中可以采取降低环路阶数、减小环路带宽、增加预检测积分时间这几种措施来提高环路跟踪弱信号的能力,有助于提高低轨道卫星的定位性能。     

GPS/GLONASS/GALILEO实时服务（RTS）产品性能评估分析

目前,不同机构提供的GNSS实时服务产品性能存在差异。为了全面揭示实时服务产品的性能，为系统服务和用户应用提供参考，统计了各实时服务产品的历元完整率及卫星数量，基于实时轨道和钟差恢复方法，比较分析了产品精度，并评估了产品定位性能。研究结果表明：正常情况下，实时服务产品的历元完整率较高，基本可保持在95%以上，所提供系统的卫星数量保持稳定且充足。对于GPS，各机构卫星实时轨道平均精度基本一致，约为3cm，实时钟差精度略有差别。对于其他GNSS，不同机构产品精度存在差别。利用实时服务产品进行GPS实时精密单点定位的平面精度优于10cm，高程精度优于20cm。相对于GPS单系统，多系统联合定位精度基本一致，但收敛速度明显提升。     

Next generation GPS-aided space navigation systems

The next generation of low cost Global Positioning System (GPS) receivers for space navigation and attitude determination are positioned to take full advantage of the improvements made in the commercial GPS receivers used for terrestrial applications. There have been recent improvements made to the GPS receivers that include the addition of extra GPS satellite channels that can be tracked simultaneously. The older style GPS receivers were only able to handle five channels at a time. In order for proper determination of three-dimensional position, a minimum of four channels was required and the fifth channel of the receiver was reserved to perform search functions for finding the next satellite. This included searching for satellites that could be used to replace exiting satellites moving out of the Field of View (FOV). The search function also enables the GPS receiver to search for the best constellation for maximum performance accuracy. The fifth roaming channel also provided a best next-satellite selection capability in case the field of view to one of the satellites was blocked or shaded.     

Urban area performance of GPS receiver with simultrac capability

The theory of operation, practical applications, and technical performance of a Global Positioning System (GPS) receiver designed for urban area use are presented. The receiver tracks as many as eight satellites, or all visible satellites, and uses the signals of the four best satellites to ascertain its location. If visibility of one satellite is blocked, one of the additional satellites can be used to provide continuous navigation. Component-level system design choices are shown to support superior automotive vehicle location performance, including optimum mobile communication with satellites and ground-based relays     

北斗空间信号误差统计特征及描述方法研究

通过对比北斗卫星导航系统(BeiDou Navigation Satellite System,BDS)广播星历与事后精密星历,提取了轨道和卫星时钟误差。基于北斗轨道误差及北斗卫星时钟误差统计特征分析,构建区别于全球定位系统(Global Positioning System,GPS)的BDS空间信号用户测距误差(Signal-In-Space User Range Error,SISRE)描述方法,对BDS广播星历中用户测距精度(User Range Accuracy,URA)进行了验证。6个月的北斗数据测试结果表明,北斗GEO、IGSO和MEO卫星的URA分别为3.0m、1.9m和1.6m。