神经网络在导航卫星钟差预报中的应用CSCD

为提高导航卫星钟差预报精度,提出一种神经网络和多项式相结合的钟差预报方法,该方法在根据星载原子钟物理特性进行多项式模型预报后,采用神经网络对多项式模型预报误差进行建模,以实现导航卫星钟差预报精度补偿。为验证本文提出的预报模型的可行性和有效性,利用实测的COMPASS导航卫星钟差数据进行钟差预报精度分析,并与传统的多项式模型预报精度进行比较。结果表明:基于神经网络建立的组合预报模型能有效提高导航卫星钟差的预报精度。     

神经网络在导航卫星钟差预报中的应用

为提高导航卫星钟差预报精度,提出一种神经网络和多项式相结合的钟差预报方法,该方法在根据星载原子钟物理特性进行多项式模型预报后,采用神经网络对多项式模型预报误差进行建模,以实现导航卫星钟差预报精度补偿。为验证本文提出的预报模型的可行性和有效性,利用实测的COMPASS导航卫星钟差数据进行钟差预报精度分析,并与传统的多项式模型预报精度进行比较。结果表明:基于神经网络建立的组合预报模型能有效提高导航卫星钟差的预报精度。     

一种高精度实时GPS卫星钟差预测算法

为获得高精度实时GPS卫星钟差,文章提出一种基于多项式和最小二乘支持向量机(Least Squares Support Vector Machines,LS-SVM)相结合的钟差预报方法.该方法采用国际GNSS服务发布的超快速观测星历建模进行短期预报,首先根据卫星钟的物理特性用附有周期项的多项式模型进行拟合以提取趋势项和周期项,然后用LS-SVM对多项式拟合残差进行建模预报,最后将预报结果加上趋势项和周期项,得到最终的钟差预报值.试验结果表明,所提算法能够实时有效地对GPS卫星钟差进行预报,且精度优于超快速预报星历.     

基于灰色模型和ARIMA模型的钟差预测

由于多种因素的影响,原子钟运行情况十分复杂,为了有效地进行钟差预报和更好的反应原子钟的特性,提出一种基于灰色模型和ARIMA模型的组合模型来实现钟差的预报,并给出了灰色模型和ARIMA模型进行原子钟钟差预报的基本思想和预报模型。利用组合模型更精确地把握钟差序列复杂细致的变化规律,从而更好的逼近钟差序列。为了验证该组合模型的可行性和有效性,利用原子钟钟差数据进行钟差预报分析,结果显示该模型具有较好的预报精度。     

广义回归神经网络在卫星钟差短期预报中的应用

近年来,神经网络(Neural Network,简称NN)在非线性系统的预测方面取得了广泛的应用。考虑到卫星钟差包含了复杂的非线性因素,所以将一种新型神经网络-广义回归神经网络(Generalized Regression Neural Network,GRNN)应用于钟差预报中。采用“滑动窗”方式构建样本数据以提高数据利用率,为提高网络的泛化能力,利用K重交叉验证法(K-fold Cross-Validation)对网络进行训练学习,并根据最小均方根误差(Root Mean Square Error,RMSE)确定最优平滑因子。利用国际GNSS服务(International GNSS Service,IGS)公布的精密GPS卫星钟差数据进行预报实验,并与传统二次多项式模型对比分析。结果表明：GRNN模型在24h的预报跨度内的误差可达ns级,并较多项式模型有更好的稳定性;对于线性钟差,GRNN模型要逊于多项式模型,而对于非线性钟差,GRNN模型则明显优于多项式模型,初步验证了GRNN用于钟差预报的可行性、有效性以及实用性。     

基于长短时记忆神经网络(LSTM)的钟差预报算法

原子钟钟差预报在原子时计算和原子钟频率驾驭中发挥着重要的作用。长短时记忆神经网络（LSTM）预报算法能够处理多参数长期依赖关系的时间序列预报,以氢钟和铯钟实测数据为样本,通过构建LSTM钟差预报模型,降低了长期原子钟内部噪声以及原子钟漂移对钟差预报的影响,并以72h,240h和720h为预报时长,分别与线性多项式模型、灰色模型和Kalman模型原子钟钟差预报模型进行预报误差对比。研究表明,在240h以上的预报时长中,LSTM建模长期依赖关系的优势得以体现,相较于其他3类模型可以获得更高的预报精度。     

脉冲星方位误差估计的两步卡尔曼滤波算法

为了克服钟差和卫星位置误差对脉冲星方位误差估计的影响,设计了两步卡尔曼滤波（TSKF）算法。首先,介绍了脉冲星方位误差估计的传统模型,并通过分析和仿真验证了钟差、卫星位置误差以及2种误差同时存在时会使脉冲星方位误差估计结果产生较大偏差。其次,在传统的估计模型中加入了钟差和卫星位置误差,并将钟差和钟差变化率增广为新的状态量,从而推导出包含2种误差的新模型,并证明了该模型的完全可观测性;根据该模型并按照两步卡尔曼滤波原理,得到了TSKF算法的步骤。最后,通过仿真表明:在钟差和卫星位置误差同时影响下,传统脉冲星方位误差估计算法偏差较大且发散;TSKF算法则能够有效隔离2种误差的影响,使赤经和赤纬误差估计达到0.2 mas之内的精度。      

基于Kalman滤波器的卫星钟实时异常监测算法

基于卫星钟钟差的Kalman滤波器模型,提出了一种卫星钟实时异常监测算法,对算法原理进行了讨论,并利用IGS精密钟差数据,对算法进行了性能验证。结果表明：该算法对卫星钟的异常情况（包括单点相位跳变与连续相位跳变）可以进行有效监测,同时还可以完成异常数据的剔除与替换,并且具有较小的替换误差。该算法具有显著的实时性,可以应用于星载原子钟的实时异常监测中。     

北斗首颗备份卫星性能初步分析

主要从卫星钟差预报、轨道测定精度、伪距波动情况等角度分析了I6卫星与北斗卫星导航系统（BDS）其他现役倾斜地球同步轨道（IGSO）卫星的异同,并从位置精度因子（PDOP）和格网可用性评估了I6卫星入网对BDS的贡献。利用星地双向时频传递设备观测的星地钟差数据,评估了I6卫星星载原子钟的预报性能,结果表明,I6卫星发播的卫星钟参数外推5h预报误差的均方根误差（RMS）为232ns,外推1h预报误差的RMS为073ns,与现役IGSO卫星钟差预报水平相当;对多星联合精密定轨结果分析表明,与北斗现役I3卫星相比,姿态控制方式优化后的I6卫星在地影期间的轨道精度并未发生明显衰减,克服了现有北斗二号卫星在地影期间轨道精度下降,从而影响北斗服务的连续性、可用性问题;利用大口径抛物面天线采集到的数据对I6卫星的伪距波动进行了分析,结果表明I6卫星单个观测弧段内其伪距波动峰峰差约为1m,与其他IGSO卫星一致;进行PDOP仿真计算,结果表明I6卫星的加入使得喀什地区的PDOP最大值由1282下降为726,PDOP大于6的时段所占百分比由2911%下降为1721%;对格网电离层产品实施解算,结果表明I6卫星的加入使得6个电离层格网点的可用度提升至95%以上。     

一种高精度GPS卫星钟差预报方法

为了获得实时高精度GPS钟差,提出了采用快速星历建模进行短期预报。文章先对钟差数据提取趋势项,再利用傅里叶分析研究其周期特征以确定建模与预报时间段长度,最后利用径向基函数(Radial Basis Function,RBF)神经网络建模实时预报钟差。由于RBF神经网络用于非线性数据建模效果良好,在提取线性趋势项并合理确定建模周期后,该方法能够得到较好的预报结果。实际预报结果表明,文中方法得到的预报钟差精度高于超快速星历,能够满足分米级实时精密定位的要求。     

基于星间链路的导航卫星时间自主恢复策略

基于北斗导航卫星星间链路的测距与数传功能，针对自主导航时卫星时频子系统异常导致载荷系统断电重启的情况，提出了一种基于星载计算机自主计时及星间链路误差校正的策略.在载荷系统重启时间内，利用星载计算机守时，并通过十秒稳定度预报晶振频率漂移量的方法，维持星钟在重启时间内的稳定.载荷系统重启后，星载计算机授时给导航任务处理机，通过误差分析计算出总误差.该误差在星间链路建链误差允许范围内，然后通过星间链路对星钟误差进行校正恢复，重新实现星地时间同步.      

Time synchronization of new-generation BDS satellites using inter-satellite link measurements

Autonomous satellite navigation is based on the ability of a Global Navigation Satellite System (GNSS), such as Beidou, to estimate orbits and clock parameters onboard satellites using Inter-Satellite Link (ISL) measurements instead of tracking data from a ground monitoring network. This paper focuses on the time synchronization of new-generation Beidou Navigation Satellite System (BDS) satellites equipped with an ISL payload. Two modes of Ka-band ISL measurements, Time Division Multiple Access (TDMA) mode and the continuous link mode, were used onboard these BDS satellites. Using a mathematical formulation for each measurement mode along with a derivation of the satellite clock offsets, geometric ranges from the dual one-way measurements were introduced. Then, pseudoranges and clock offsets were evaluated for the new-generation BDS satellites. The evaluation shows that the ranging accuracies of TDMA ISL and the continuous link are approximately 4?cm and 1?cm (root mean square, RMS), respectively. Both lead to ISL clock offset residuals of less than 0.3?ns (RMS). For further validation, time synchronization between these satellites to a ground control station keeping the systematic time in BDT was conducted using L-band Two-way Satellite Time Frequency Transfer (TWSTFT). System errors in the ISL measurements were calibrated by comparing the derived clock offsets with the TWSTFT. The standard deviations of the estimated ISL system errors are less than 0.3?ns, and the calibrated ISL clock parameters are consistent with that of the L-band TWSTFT. For the regional BDS network, the addition of ISL measurements for medium orbit (MEO) BDS satellites increased the clock tracking coverage by more than 40% for each orbital revolution. As a result, the clock predicting error for the satellite M1S was improved from 3.59 to 0.86?ns (RMS), and the predicting error of the satellite M2S was improved from 1.94 to 0.57?ns (RMS), which is a significant improvement by a factor of 3–4.     

A new stochastic model considering satellite clock interpolation errors in precise point positioning

Precise clock products are typically interpolated based on the sampling interval of the observational data when they are used for in precise point positioning. However, due to the occurrence of white noise in atomic clocks, a residual component of such noise will inevitable reside within the observations when clock errors are interpolated, and such noise will affect the resolution of the positioning results. In this paper, which is based on a twenty-one-week analysis of the atomic clock noise characteristics of numerous satellites, a new stochastic observation model that considers satellite clock interpolation errors is proposed. First, the systematic error of each satellite in the IGR clock product was extracted using a wavelet de-noising method to obtain the empirical characteristics of atomic clock noise within each clock product. Then, based on those empirical characteristics, a stochastic observation model was structured that considered the satellite clock interpolation errors. Subsequently, the IGR and IGS clock products at different time intervals were used for experimental validation. A verification using 179 stations worldwide from the IGS showed that, compared with the conventional model, the convergence times using the stochastic model proposed in this study were respectively shortened by 4.8% and 4.0% when the IGR and IGS 300-s-interval clock products were used and by 19.1% and 19.4% when the 900-s-interval clock products were used. Furthermore, the disturbances during the initial phase of the calculation were also effectively improved.     

利用条件平差实现导航星座自主守时方法

针对导航星座自主导航系统的重要组成部分———自主守时系统,提出了一种简便易行的新算法:根据星间测距数据,采用条件平差进行自主守时计算;并且介绍了此方法基本原理和实现思路。自主守时仿真计算表明,此方法守时同步误差不累积,距离测量误差0.1m时,时间同步误差均方根小于0.4m。     

测量时刻偏差对单星定轨误差的影响分析

为评估测量时刻偏差对单星定轨等效测量误差的影响,根据单星定轨处理策略分析了其理论模型,指出测站接收机的测量时刻偏差由测站时钟钟差以及测量时刻不准确度等组成。试验数据分析表明,测站钟差经一阶多项式拟合后的残差可近似为零均值的测量噪声;数值仿真结果表明,卫星信号发射时刻1ms误差导致GEO、IGSO、MEO三种卫星的等效测距误差分别为006cm、40cm、80cm。     

导航卫星的地面站定轨算法

导航星座轨道的长期保持是星座导航系统运营管理的重要组成部分,而现有的导航卫星地面定轨算法又存在精度不高或计算量大不适合工程应用的问题。为此,研究了单向、被动测量模式的导航卫星地面定轨算法。基于单向伪距观测,将导航卫星钟差参数作为状态量,推导了滤波算法的状态方程、测量方程,并最终建立了滤波器模型。以不同轨道面的4颗GPS导航卫星为例进行了2天的仿真试验,考虑卫星的可见性仿真中加入了测量中断,并设计在测量恢复后重启滤波算法。仿真结果表明,4颗卫星的轨道位置估计精度可以达到米级,钟差随机偏差的估计精度可以达到纳秒级,并且在滤波中断后重启滤波器,仍然可以达到此估计精度,表明此定轨算法具有收敛性和稳定性。     

北斗三号系统广域差分服务精度评估

为了保证北斗系统广域差分服务的平稳过渡，北斗三号系统（BDS-3）通过GEO卫星B1I/B3I信号播发北斗二号协议广域差分改正信息，包括等效钟差改正数与格网点电离层信息。分析了增加BDS-3卫星后，等效钟差改正数和格网点电离层信息的特征，并对BDS-2和BDS-3的用户差分距离误差（UDRE）进行了对比。联合BDS-2和BDS-3实测数据，对BDS-3广域差分服务定位精度进行了评估。分析结果表明:BDS-2卫星广播星历空间信号用户等效距离误差（UERE）约为1 m，经过等效钟差改正数后，用户差分距离误差约为0.3 m；BDS-3卫星广播星历空间信号用户等效距离误差约为0.4 m，经过等效钟差改正数后，用户差分距离误差约为0.2 m。等效钟差改正数可以修正广播电文更新带来的空间信号阶跃误差，显著提升卫星空间信号精度。与基本导航系统播发的Klobuchar 8模型，广域差分系统所播发的格网点电离层信息可将电离层误差修正精度提高约18%。与单独BDS-2卫星相比，BDS-2/BDS-3卫星联合条件下，基本导航的单频用户和双频用户定位精度可分别提升26%和41%；广域差分服务的单频用户定位精度为2.4 m，双频用户定位精度为1.7 m，单频用户和双频用户定位精度分别提升13%和41%。      

Beidou wide-area augmentation system clock error correction and performance verification

On December 27, 2018, the Beidou-3 System (BDS-3) has completed the deployment of 18 Medium Earth Orbit (MEO) satellites combined as a space constellation. In addition to the augmentation information for the new system signals B1C and B2a, the BDS-3 is compatible with the three augmentation information broadcast by the BDS-2 system for B1I and B3I signals: equivalent clock error correction, User Differential Ranging Error (UDRE) and Grid Ionosphere Vertical Error (GIVE). In this paper, the observation data of Beidou monitoring network are used to analyze the pseudo-range observation quality of the smooth transition signals B1I and B3I of BDS-2 and BDS-3. At the same time, the relationship between the equivalent clock error correction and the prediction error of the satellite clock is analyzed by using the Two-Way Satellite Time and Frequency Transfer (TWSTFT) data. The results show that the correlation between the equivalent clock error correction and the monitored clock error by using the TWSTFT data is greater than 60%. We calculate the UDRE by using the equivalent clock error correction. The results show that the satellite equivalent clock error correction can improve the accuracy of User Equivalent Range Error (UERE) by about 50%. This paper also compares the positioning accuracy of the BDS-2 satellites with the BDS-2 satellites combined BDS-3 satellites. The results show that the three-dimensional positioning accuracy is improved by about 30% after the BDS-3 satellites are added.