关于北斗卫星导航系统的被动式定位算法比较研究

我国北斗卫星导航系统空间卫星共有2或3颗,无法单独满足被动导航定位的要求．针对这种卫星稀少的情况提出了3种被动式定位算法: 2星定位算法、 3星3参数定位算法和3星4参数定位算法, 这些算法分别采用气压测高方法增加观测数据和采用数学模型描述接收机钟差的方法减少定位方程求解的未知数;探讨了北斗卫星导航系统备份星的可用性和对导航定位精度的贡献;还提出了准差分修正技术,提高了定位精度．实验证明, 3种算法都取得了100m以内的定位结果,可以满足一般用户定位需求．     

卫星与测站钟差支持条件下的GEO卫星精密定轨

在基于伪距的GEO卫星精密定轨中, GEO卫星的静地特性导致定轨解算无法对星地组合钟差进行有效估计, 需要独立的时间同步支持. 本文讨论了卫星和测站钟差支持条件下的GEO卫星定轨原理, 利用仿真数据系统地分析了中国区域网跟踪条件下GEO卫星的定轨精度, 从定性和定量角度分析了钟差二次项、星地时间同步精度、站间时间同步精度及系统差等因素对定轨精度的影响.     

细说北斗卫星导航系统

北斗卫星导航系统是我国航天系统的重点工程,也是世界卫星导航系统(GNSS)的重要组成部分。虽然在进度和成熟度上远远不及美国GPS和俄罗斯格罗纳斯(GLONASS),但我国在人力和物力上对北斗卫星导航系统给予了大力支持,其进度要领先于欧洲的伽利略系统。2011年12月27日国务院新闻办召开北斗系统的首次新闻发布会,正式宣布北斗卫星导航系统开始试运行,同时公开了北斗卫星导航系统的测试版空间信号接口控制文件(ICD),标志着北斗系统开始走向开放和成熟。     

观测资料和卫星钟差对PPP参数收敛影响分析

在GPS 单点定位中, 参数解算的收敛时间和收敛稳定性是重要的研究内容之一, 影响收敛时间和收敛稳定性的因素很多, 本文主要就观测资料的不同采样间隔、卫星钟差资料的不同采样间隔、不同的定位精度要求对精密单点定位中参数收敛时间的影响进行了深入的分析探讨, 以中国上海GPS综合应用网中的12个测站资料为例, 分析了采样间隔、定位精度要求与收敛时间的关系, 并对不同采样间隔的收敛时间进行了统计分析, 得出一些初步结论.     

北斗卫星导航系统第二星成功定点

4月20日17点06分,北斗卫星导航系统第二颗卫星成功定点于预定轨道。4月15日,中国航天科技集团公司从西昌卫星发射中心成功发射了北斗卫星导航系统第二颗卫星。该卫星是北斗卫星导航系统首颗地球静止轨道卫星。经过4次远地点变轨和4个批次定点捕获,该卫星于4月20日成功定点。从今年起,北斗卫星导航系统进入组网高峰期。预计2010年左右,北斗卫星导航系统建设覆盖亚太地区,2020年前建成全球卫星导航系统。     

欧洲继续推动静轨道卫星导航系统的发展

欧空局 ( ESA)、欧洲委员会 ( EC)以及欧洲航行安全局 ( Eurocontrol)三方 ,在“全球导航定位卫星系统” ( GNSS)的开发协调上取得了具体的进展。GNSS计划分 2个阶段实施。第 1个阶段是建造 GNSS- 1 ,即第 1代卫星导航系统 ,它依赖于美国 GPS和俄罗斯GLONASS星座。第 2个阶段是建造 GNSS- 2 ,即第 2代卫星导航系统 ,它能够为民用用户提供更先进的导航及定位服务。“伽利略” ( Galileo)系统将作为 GNSS- 2的组成部分。在 GNSS- 1阶段 ,欧洲正在建立“欧洲静止轨道导航重叠系统”( EGNOS) ,其主要目的是提高 GPS和 GLO…     

“北斗”卫星导航系统发展报告

20世纪80年代初,中国开始积极探索适合国情的卫星导航系统。2000年,初步建成\"北斗\"卫星导航试验系统,标志着中国成为继美、俄之后世界上第3个拥有自主卫星导航系统的国家。目前,中国正在稳步推进\"北斗\"卫星导航系统的建设,截至2012年2月已成功发射了11颗\"北斗\"导航卫星。     

基于固定模糊度PPP的低轨卫星实时精密定轨

传统动力学定轨法受制于动力学模型精度,传统几何定轨法精度受限,只能达到亚米级,而基于精密单点定位（PPP）模式的几何定轨法一般采用浮点解,定轨精度及可靠性较基于双差模式的相对定位较差。为提高PPP模式低轨定轨的定位性能,利用中国区域内外的IGS测站计算出当前所有卫星的宽巷和窄巷相位小数偏差产品,对经过中国大陆区域上空的国产低轨卫星海洋二号（HY-2）和资源三号 (ZY-3) 卫星进行固定模糊度PPP的定轨解算,与事后精密轨道结果进行比较,分析其外符合精度。结果表明：仅利用约10min弧段的HY-2和ZY-3卫星数据,切向与径向的定轨精度可达2cm左右,法向为5cm左右,较浮点解定轨精度大幅提升。基于固定模糊度PPP的定轨方法能够满足厘米级的实时精密定轨。     

北斗卫星导航系统首颗地球静止轨道卫星发射成功 ——我国2020年前建成全球卫星导航系统

2009年4月15日零点16分,春夜中的中华大地一片静谧.长征三号丙运载火箭托举着北斗星导航系统首颗地球静止轨道卫星从大凉山深处腾空而起,在我国东南地区上空划出了一道美丽的轨迹.     

定位精度“精”益求“精”——访北斗卫星导航系统卫星系统总设计师谢军

第8颗北斗卫星的成功发射入轨后,与在轨的多颗地球静止轨道(GEO)卫星和地球同步轨道(IGSO)卫星组成基本系统,已经具备在星座覆盖范围内提供连续的、稳定的、全天候的基本服务能力。那么北斗卫星导航系统的基本原理、定位精度和未来发展如何呢?北斗卫星导航系统卫星系统总设计师谢军为我们进行了详细的解答。     

基于相位偏差的实时PPP模糊度固定

采用CNES发布的实时相位偏差数据,实现包含模糊度固定的实时精密单点定位.对全球10个IGS测站10天观测数据进行RTPPP解算,分别统计模糊度首次固定时间和定位精度,结果显示利用实时相位偏差数据能在平均30min内实现模糊度首次固定,模糊度固定时水平位置误差由6cm迅速降低至2cm左右,三维位置误差由10cm迅速降低至5cm左右,同时RTPPP模糊度固定在3h观测内可保持水平3cm、三维5cm左右的定位精度.通过分析得出,基于相位偏差的RTPPP模糊度固定技术具有较高的定位精度和定位稳定性,能够快速实现cm级定位.     

Towards PPP-RTK: Ambiguity resolution in real-time precise point positioning

Integer ambiguity resolution at a single station can be achieved by introducing predetermined uncalibrated phase delays (UPDs) into the float ambiguity estimates of precise point positioning (PPP). This integer resolution technique has the potential of leading to a PPP-RTK (real-time kinematic) model where PPP provides rapid convergence to a reliable centimeter-level positioning accuracy based on an RTK reference network. Nonetheless, implementing this model is technically subject to how rapidly we can fix wide-lane ambiguities, stabilize narrow-lane UPD estimates, and achieve the first ambiguity-fixed solution. To investigate these issues, we used 7 days of 1-Hz sampling GPS data at 91 stations across Europe. We find that at least 10 min of observations are required for most receiver types to reliably fix about 90% of wide-lane ambiguities corresponding to high elevations, and over 20 min to fix about 90% of those corresponding to low elevations. Moreover, several tens of minutes are usually required for a regional network before a narrow-lane UPD estimate stabilizes to an accuracy of far better than 0.1 cycles. Finally, for hourly data, ambiguity resolution can significantly improve the accuracy of epoch-wise position estimates from 13.7, 7.1 and 11.4 cm to 0.8, 0.9 and 2.5 cm for the East, North and Up components, respectively, but a few tens of minutes is required to achieve the first ambiguity-fixed solution. Therefore, from the timeliness aspect, our PPP-RTK model currently cannot satisfy the critical requirement of instantaneous precise positioning where ambiguity-fixed solutions have to be achieved within at most a few seconds. However, this model can still be potentially applied to some near-real-time remote sensing applications, such as the GPS meteorology.     

Comparison of convergence time and positioning accuracy among BDS,GPS and BDS/GPS precise point positioning with ambiguity resolution

Precise point positioning (PPP) usually takes about 30?min to obtain centimetre-level accuracy, which greatly limits its application. To address the drawbacks of convergence speed and positioning accuracy, we develop a PPP model with integrated GPS and BDS observations. Based on the method, stations with global coverage are selected to estimate the fractional cycle bias (FCB) of GPS and BDS. The short-term and long-term time series of wide-lane (WL) FCB, and the single day change of narrow-lane (NL) FCB are analysed. It is found that the range of GPS and BDS non-GEO (IGSO and MEO) WL FCB is stable at up to a 30-day-time frame. At times frame of up to 60?days, the stability is reduced a lot. Whether for short-term or long-term, the changes in the BDS GEO WL FCB are large. Moreover, BDS FCB sometimes undergoes a sudden jump. Besides, 17 and 10 stations were used respectively to investigate the convergence speed and positioning errors with six strategies: BDS ambiguity-float PPP (Bfloat), GPS ambiguity-float PPP (Gfloat), BDS/GPS ambiguity-float PPP (BGfloat), BDS ambiguity-fixed PPP (Bfix), GPS ambiguity-fixed (Gfix), and BDS/GPS ambiguity-fixed (BGfix). The average convergence speed of the ambiguity-fixed solution is greatly improved compared with the ambiguity-float solution. In terms of the average convergence time, the Bfloat is the longest and the BGfix is the shortest among these six strategies. Whether for ambiguity-float PPP or ambiguity-fixed PPP, the convergence reduction time in three directions for the combined system is the largest compared with the single BDS. The average RMS value of the Bfix in three directions (easting (E), northing (N), and up (U)) are 2.0?cm, 1.5?cm, and 5.9?cm respectively, while those of the Gfix are 0.8?cm, 0.5?cm, and 1.7?cm. Compared with single system, the BDS/GPS combined ambiguity-fixed system (BGfix) has the fastest convergence speed and the highest accuracy, with average RMS as 0.7?cm, 0.5?cm, and 1.9?cm for the E, N, U components, respectively.     

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.     

Precise orbit determination using the batch filter based on particle filtering with genetic resampling approach

In this study, genetic resampling (GRS) approach is utilized for precise orbit determination (POD) using the batch filter based on particle filtering (PF). Two genetic operations, which are arithmetic crossover and residual mutation, are used for GRS of the batch filter based on PF (PF batch filter). For POD, Laser-ranging Precise Orbit Determination System (LPODS) and satellite laser ranging (SLR) observations of the CHAMP satellite are used. Monte Carlo trials for POD are performed by one hundred times. The characteristics of the POD results by PF batch filter with GRS are compared with those of a PF batch filter with minimum residual resampling (MRRS). The post-fit residual, 3D error by external orbit comparison, and POD repeatability are analyzed for orbit quality assessments. The POD results are externally checked by NASA JPL’s orbits using totally different software, measurements, and techniques. For post-fit residuals and 3D errors, both MRRS and GRS give accurate estimation results whose mean root mean square (RMS) values are at a level of 5 cm and 10–13 cm, respectively. The mean radial orbit errors of both methods are at a level of 5 cm. For POD repeatability represented as the standard deviations of post-fit residuals and 3D errors by repetitive PODs, however, GRS yields 25% and 13% more robust estimation results than MRRS for post-fit residual and 3D error, respectively. This study shows that PF batch filter with GRS approach using genetic operations is superior to PF batch filter with MRRS in terms of robustness in POD with SLR observations.     

Precision orbit determination performance for CryoSat-2

In this paper we discuss our efforts to perform precision orbit determination (POD) of CryoSat-2 which depends on Doppler and satellite laser ranging tracking data. A dynamic orbit model is set-up and the residuals between the model and the tracking data is evaluated. The average r.m.s. of the 10?s averaged Doppler tracking pass residuals is approximately 0.39?mm/s; and the average of the laser tracking pass residuals becomes 1.42?cm. There are a number of other tests to verify the quality of the orbit solution, we compare our computed orbits against three independent external trajectories provided by the CNES. The CNES products are part of the CryoSat-2 products distributed by ESA. The radial differences of our solution relative to the CNES precision orbits shows an average r.m.s. of 1.25?cm between Jun-2010 and Apr-2017. The SIRAL altimeter crossover difference statistics demonstrate that the quality of our orbit solution is comparable to that of the POE solution computed by the CNES. In this paper we will discuss three important changes in our POD activities that have brought the orbit performance to this level. The improvements concern the way we implement temporal gravity accelerations observed by GRACE; the implementation of ITRF2014 coordinates and velocities for the DORIS beacons and the SLR tracking sites. We also discuss an adjustment of the SLR retroreflector position within the satellite reference frame. An unexpected result is that we find a systematic difference between the median of the 10 s Doppler tracking residuals which displays a statistically significant pattern in the South Atlantic Anomaly (SSA) area where the median of the velocity residuals varies in the range of ?0.15 to +0.15?mm/s.