GNSS实时卫星钟差估计技术进展

不依赖实体基准站增强信息的GNSS实时精密单点定位服务将逐渐成为主流定位模式。实时卫星钟差产品作为实时精密单点定位的关键先决条件之一，其精度直接决定实时精密定位服务的性能。计算实时卫星钟差的GNSS实时卫星钟差估计技术成为实时精密定位的核心技术之一，其主要包括两种解算模式：非差解算模式和差分解算模式。由于对卫星模糊度等未知参数处理策略的不同，卫星钟差估计技术又可细分为非差、历元差分、星间差分、混合差分等策略类型。针对不同实时卫星钟差估计技术的原理方法、算法效率、适用性等问题，综合目前已有相关研究成果的基础上，对GNSS实时卫星钟差估计的研究现状、关键技术和面临的挑战进行了较为系统的总结综述，并对未来卫星钟差预报产品和实时估计产品的关系进行了展望。     

面向Android智能终端的多模GNSS实时非差精密定位

Android操作系统中全球导航卫星系统(GNSS)原始数据的开放为大众高精度位置服务的应用带来了重要机遇。在对Android系统GNSS原始数据特性分析的基础上,利用智能终端GNSS原始数据实现了实时非差精密定位,研制了面向Android平台的实时精密单点定位(PPP)软件PPPAnd,并开展了实际环境下的定位测试。测试结果表明:基于Android终端GNSS原始数据的实时静态伪距单点定位精度(RMS)为1.16m(水平方向)和1.51m(垂直方向),较其自身位置速度和时间(PVT)解算结果分别提高了70%和76%;实时静态精密单点定位解算结果的精度(RMS)为0.62m(水平方向)和0.66m(垂直方向),较PVT结果分别提高了87%和82%,精度收敛至1m以内所需时间约8min,并且收敛后的精度可达亚米级;城市环境中车载实时动态精密单点定位的水平和垂直精度(RMS)分别约为1.32m和0.81m,较PVT结果分别提高了39%和65%。     

GPS精密单点定位收敛性分析及改善措施

目前卫星定位技术中常用的高精度定位方法主要是相对定位和非差相位精密单点定位。非差相位精密单点定位无法像相对定位那样使用差分方式来消除定位中的某些误差,因而如何对影响定位的各个误差源进行准确地建模修正是提高非差相位精密单点定位精度和收敛速度的关键。本文从非差相位精密单点定位的3个关键环节入手,对影响定位收敛速度的因素进行简要分析,讨论了改善措施,并结合实际数据进行了相关验证。     

基于非差模型的GPS卫星实时钟差估计精度分析

通过分析实时钟差估计的解算过程,实现了基于非差模型的GPS卫星实时钟差估计,利用区域和全球数据、最终和实时轨道分别求解实时钟差,并将其结果与IGS实时钟差产品进行对比,分析GPS卫星实时钟差产品的精度。算例表明:采用IGS最终轨道产品实时解算卫星钟差,平均钟差精度达到0.2ns;采用IGS实时轨道产品实时解算卫星钟差,平均钟差精度达到0.25ns;IGS实时钟差产品平均钟差精度达到0.2ns以内。实时估计的钟差和IGS实时钟差产品精度差异有很大一部分是由于双方采用的钟差解算策略不同造成的,IGS实时钟差产品和IGS实时轨道产品是同一软件求解得到,符合性更好,且两种实时钟差产品在精度评定时选择IGS最终钟差产品为参考,这对IGS实时钟差产品的评估也会有利。     

The GFZ real-time GNSS precise positioning service system and its adaption for COMPASS

Motivated by the IGS real-time Pilot Project, GFZ has been developing its own real-time precise positioning service for various applications. An operational system at GFZ is now broadcasting real-time orbits, clocks, global ionospheric model, uncalibrated phase delays and regional atmospheric corrections for standard PPP, PPP with ambiguity fixing, single-frequency PPP and regional augmented PPP. To avoid developing various algorithms for different applications, we proposed a uniform algorithm and implemented it into our real-time software. In the new processing scheme, we employed un-differenced raw observations with atmospheric delays as parameters, which are properly constrained by real-time derived global ionospheric model or regional atmospheric corrections and by the empirical characteristics of the atmospheric delay variation in time and space. The positioning performance in terms of convergence time and ambiguity fixing depends mainly on the quality of the received atmospheric information and the spatial and temporal constraints. The un-differenced raw observation model can not only integrate PPP and NRTK into a seamless positioning service, but also syncretize these two techniques into a unique model and algorithm. Furthermore, it is suitable for both dual-frequency and sing-frequency receivers. Based on the real-time data streams from IGS, EUREF and SAPOS reference networks, we can provide services of global precise point positioning (PPP) with 5–10 cm accuracy, PPP with ambiguity-fixing of 2–5 cm accuracy, PPP using single-frequency receiver with accuracy of better than 50 cm and PPP with regional augmentation for instantaneous ambiguity resolution of 1–3 cm accuracy. We adapted the system for current COMPASS to provide PPP service. COMPASS observations from a regional network of nine stations are used for precise orbit determination and clock estimation in simulated real-time mode, the orbit and clock products are applied for real-time precise point positioning. The simulated real-time PPP service confirms that real-time positioning services of accuracy at dm-level and even cm-level is achievable with COMPASS only.