原子钟性能对卫星导航系统定位精度的影响分析

星载原子钟是卫星导航系统的关键设备,原子钟主要通过影响卫星钟差对定位精度产生影响,分析了GNSS星载原子钟性能对定位精度的影响.通过原理分析,建立了原子钟稳定度与卫星导航系统定位精度的关系.在不考虑控制段对星钟校准误差的前提下,将原子钟噪声与星上工作环境因素作为主要因素,分析了GPS-IIF铷钟和铯钟对钟差/定位误差的影响,并给出了分析结果.最后,利用iGMAS提供的钟差产品数据,对比了北斗和GPS部分原子钟的稳定度及其对定位精度的影响,为后续星载原子钟的发展与选择提供了一定参考.     

The Soviet Union's GLONASS Navigation Satellites

GLONASS (Global Orbiting Navigation Satellite System) is the most recent satellite navigation system developed by the Soviet Union and currently in the pre-operational stage. Obvious parallels exist between GLONASS and the NAVSTAR Global Positioning System (GPS) developed in the United States and also, at present, in a pre-operational phase. In the progress towards operational status, the launch capability for NAVSTAR satellites has been seriously affected by the recent failure of the Space Shuttle Challenger, clearly increasing the prospects of GLONASS reaching operational status first. It is therefore the main purpose of this paper to discuss certain aspects of the GLONASS satellite navigation system, in particular its orbital features and radio-frequency signal characteristics. Comparisons with NAVSTAR are inevitable and for this reason, the paper begins with a brief resume of relevant features of the NAVSTAR GPS system for later reference. The main section of the paper then deals with orbital behaviour, radio frequency signal structure and channelisation using NAVSTAR as a reference point for discussion.     

不同GNSS星载原子钟周期特性分析

高精度的卫星时钟修正是全球卫星导航系统实时精密单点定位和授时服务的重要基础。为了提高GNSS钟差预报精度,需要对GNSS星载原子钟的周期特性进行分析。基于2016年全年的GNSS精密卫星钟差数据,利用中位数方法进行了数据预处理,使用多项式拟合模型分析了卫星钟的拟合残差,利用频谱分析法分析了BDS、GPS卫星钟差的周期特性,全面分析了BDS、GPS星载原子钟的周期特性。分析结果表明：除Cs钟外,其他卫星钟差都表现出较好的周期特性,BDS、GPS的主周期项基本在12h、24h、6h附近;同时不同的轨道、原子钟,其钟差周期项不同,而相同的轨道类型,其钟差周期项也存在一定差异;卫星的钟差主周期分别近似为其卫星轨道周期的1/2倍、1倍、2倍。     

面向导航增强的低轨卫星钟差确定及预报方法研究

低轨导航增强是未来导航发展的重要趋势,而高精度低轨卫星钟差是实现低轨导航增强的必要条件。基于Sentinel-6A卫星,对低轨卫星钟差特性进行了分析,给出了钟差确定方法及影响因素,介绍了顾及钟差特性的低轨卫星钟差预报方法。实验表明,低轨卫星钟差含有多个周期项,给低轨卫星建模和预报带来了困难。与使用运动学定轨模型相比,基于简化动力学的定轨模型可显著提升低轨卫星钟差精度;当基于运动学模型确定低轨卫星钟差时,相较于使用GPS单系统数据,多GNSS观测数据可提升低轨卫星钟差精度。研究表明,基于GPS和Galileo观测的Sentinel-6A卫星钟差精度相较于GPS单系统钟差精度改善了36%,同时,所使用的GNSS产品精度与低轨卫星钟差精度密切相关。利用顾及卫星钟差特性的低轨卫星钟差预报方法,当预报时长小于1 min,低轨卫星钟差预报精度（预报与解算值之差的RMSE）在0.1 ns之内,当预报时长小于5 min,预报精度在0.3 ns之内,随着预报时长的增长,预报精度显著下降。     

Position-fixing using the USSR's GLONASS C/A code

The possibility of the USSR's global satellite navigation system GLONASS and the NAVSTAR Global Positioning System using a common navigation system can only be determined following exhaustive testing of two systems in a variety of satellite and receiver modes and configurations. The authors describe their first attempts to carry out basic position-fixing and timing measurements with a single-channel, sequencing digital receiver in a C/A code phase-measurement mode using the GLONASS satellites. The receiver used to produce the fixes was a digital sequencing unit with a single stage of downconversion and followed by 1-bit quantization. Code acquisition was accomplished using 1-Q channels measuring code phase. The number of satellites available in the present preoperational phase heavily restricts the time and satellite configurations which can be tested. However, the results have encouraged the authors to propose a range of experiments aimed at evaluating the two systems and eventual integration     

光抽运小铯钟及其在PNT应用

对比分析了大小铯原子钟及其在PNT中的应用,在此基础上介绍了基于光抽运技术方案实现的国际上第一台商用小铯钟。在研制原理样机和工程样机的过程中,解决了激光稳频、铯束准直等关键技术和工作温度、振动、EMC等环境难题,技术状态满足小批量生产要求,频率稳定度可达10-15,频率准确度优于10-12,技术指标达到国际同类小铯钟5071A水平。分析了光抽运小铯钟作为守时原子钟如何应用于时间频率基准实验室、数字通信同步网、卫星导航地面站、长波导航路基站等PNT体系。     

INMARSAT integrity channels for global navigation satellite systems

The transmission of integrity information using a signal format compatible with the Global Positioning System (GPS) and relayed through a geostationary satellite repeater, which will be critical in achieving high integrity and availability of global navigation by satellite is discussed. The inclusion of navigation repeaters designed to fulfil this function, the next generation of INMARSAT spacecraft, INMARSAT-3 is examined. The global navigation satellite system (GNSS) integrity channel (GIC) will employ pseudorandom codes in the same family as, but distinct from, the codes reserved by GPS. The data format of the basic integrity channel is designed to convey user range error information for 24 to 40 satellites. A closed-loop timing compensation technique will be used at the uplinking Earth station, to make the signal's clock and carrier Doppler variations identical to those that would result from an onboard signal source. Therefore, the INMARSAT-3 satellites will increase the number of useful navigation satellites available to any user, and can also function as sources of precise timing. There is also a possibility that wide area differential corrections can be carried on the same signal     

不同基准钟对BDS实时钟差估计的影响分析CSCD

BDS原始观测量是站星之间的相对时间延迟,在实时卫星钟差估计过程中需要引入一个基准钟,求解该基准约束下的钟差产品。基于两种不同的基准约束条件实时估计BDS卫星钟差,并从实时钟差的估计精度、钟差频率特性(频率漂移率、频率准确度、频率稳定度)及钟差预报精度等方面分析其对BDS实时钟差估计的影响。算例结果表明,在两种不同的基准模式下,估计得到的BDS实时卫星钟差性能基本一致,在实际使用中可根据情况采用不同的基准钟进行钟差估计,为BDS实时卫星钟差估计时基准钟的选择提供了参考。     

不同GNSS在高纬度地区时间传递性能分析

全球卫星导航系统（GNSS）载波相位时间传递技术是高精度时间传递领域的主要研究方法之一，但目前关于该部分的研究主要集中在中低纬度地区，在高纬度地区并不多见。不同GNSS由于星座设计不同，在高纬度地区结构差异较大，因此需要对不同GNSS在高纬度地区的时间传递性能进行分析。实验结果表明，在高纬度地区时间传递中，Galileo稳定度最高，GPS和BDS次之，GLONASS最差。同时因在高纬度地区卫星的高度角普遍偏低，为合理平衡低高度角时可视卫星多和多路径误差大的矛盾，对不同截止高度角下获取的链路时间传递性能进行了分析。结果表明，在5°截止高度角下，高纬度地区的时间传递链路稳定性最好。     

New approach to a multistatic passive radar sensor for air/spacedefense

A method to apply the latest technology in Global Navigation Satellite Systems (GNSS), in particular the U.S. NAVSTAR GPS (NAVigation System for Timing And Ranging Global Positioning System) and the Russian GLONASS (GLObal'naya Nqvigatsionnaya Sputnikovaya Sistema), as a silent multistatic or parasitic radar for air defense is described. These satellite systems serving as navigational aids are well suited for low power radar applications due to the similarity and compatibility of the transmitted satellite signals with modern radar signals, such as spread spectrum modulation and Pseudo Random Noise (PRN) codes. Preliminary flight tests with airships, jet and propeller aircraft, helicopter, anti tank missiles and spaceborne targets (MIR) to study effects have been conducted     

Galileo卫星星钟故障前后信号质量分析

星载原子钟是卫星导航系统的核心器件,是影响导航信号质量的重要因素。2016年11月,Galileo系统利用一箭四星发射升空4颗新一代Galileo卫星。根据观测显示,截至2017年7月,仅能接收到其中1颗卫星发射的导航信号。在2017年1月,欧洲航天局通告称多颗卫星原子钟大规模故障。针对此,40m 大口径高增益天线系统设备对不同批次和星钟故障情况的3颗Galileo卫星E5频点信号进行了数据采集处理,对各信号分量的功率谱、星座图、码片波形、相关损失、相关峰、S曲线偏差等信号质量指标进行了分析评估。结果表明,此次星载原子钟的大面积故障并未影响Galileo卫星信号的可用性,足够的星载备份钟避免了信号质量的严重恶化。     

顾及轨道误差的GNSS卫星钟差实时估计策略优化

为提高GNSS卫星钟差实时估计精度，针对GNSS各卫星系统的轨道差异，分析各系统卫星轨道误差对钟差估计的影响，基于距离函数线性化二阶残余项的思想，提出了一种顾及轨道误差的权函数模型，以优化实时卫星钟差估计策略。利用全球均匀分布的IGS和iGMAS跟踪站的实时观测数据进行实验，并与GBM的事后精密钟差进行对比分析。结果表明： GPS精度提高率为6.47%，BDS精度提高率为6.46%，GLONASS精度提高率为7.42%，Galileo精度提高率为7.62%。     

磁场对冷镱原子光钟稳定度影响的仿真分析

在光晶格钟运行时，不停起伏的杂散磁场会引入一阶塞曼频移和二阶塞曼频移，从而影响光晶格钟的频率不稳定度。此外，突变的磁场可能导致激光频率参考到钟跃迁频率的伺服闭环过程发生不可恢复的失锁，从而阻碍光钟的持续运行。在实验中，光钟进行频率闭环锁定前，通常通过控制三维线圈对光钟主腔中心原子处的杂散磁场进行补偿。首先使用三维磁强计，对真空主腔附近的磁场进行监测和记录，以分析杂散磁场对光钟性能的影响。然后利用正态分布模型和二项分布模型等，对光钟频率伺服锁定过程的阿伦偏差进行仿真拟合。在引入实际磁场监测数据的基础上，模拟光钟频率的伺服锁定过程，分析其仿真结果可以得出：减小杂散磁场起伏和控制磁场漂移，在提高冷镱原子光钟的短期稳定性和长期稳定性方面具有重要意义。     

多模GNSS PPP时间传递性能比对分析

精密单点定位(PPP)时间传递技术是国际时间比对的重要手段之一,为协调世界时的计算做出巨大贡献。为探究多系统融合PPP时间频率传递性能,选取3个国际授时实验室的测站数据组成2条链路,采用8种实验模式对比分析单系统、双系统、三系统和四系统PPP时间频率传递性能。实验结果表明：各多系统组合较单GPS系统在可见星数上均有较大提升,且极大改善了钟差精度因子,增加了时间比对结果的稳健性和可靠性。在时间传递稳定性方面：对于453.4 km的PTBB-BRUX链路,较单GPS系统,双系统中GPS/BDS组合提升效果最优,提升率约为10.39%,三系统中GPS/GLONASS/BDS组合提升率最优,约为11.86%,四系统组合提升率为11.98%,可从0.046 7 ns提升至0.041 1 ns;对于8 031.8 km的PTBB-NIST链路,GPS/BDS组合提升率约为4.89%,GPS/GLONASS/BDS组合提升率约为5.49%,四系统组合提升率为5.79%,可从0.114 0 ns提升至0.107 4 ns。在频率传递稳定度方面：在前10 000 s内双系统组合平均提升17.6%,三系统...     

多模GNSS IFCB产品特点分析及精密单点定位性能评估

随着多模全球卫星导航系统（GNSS）高精度应用需求的日益增长,频间钟偏差（IFCB）问题近年来得到广泛研究。基于2023年年积日（DOY）（130～136）澳大利亚地区18个多模实验跟踪网（MGEX）观测数据的无几何无电离层（GFIF）组合,分别估计了北斗卫星导航系统（BDS）、伽利略卫星导航系统（Galileo）和全球定位系统（GPS）卫星的 IFCB 产品。对比分析了BDS-2,BDS-3,Galileo和GPS卫星的IFCB的特点。评估了相位相关的IFCB（PIFCB）误差对GPS BLOCK IIF卫星超宽巷（EWL）未校准相位硬件延迟（UPD）和非组合（UC）三频精密单点定位（PPP）性能的影响。实验结果表明,PIFCB误差对Galileo卫星的影响最小,对GPS BLOCK IIF卫星的影响最大;对BDS-3卫星的影响低于BDS-2卫星;不同信号频率对IFCB产品的估计结果会产生一定的影响。实验结果进一步表明,IFCB产品可以显著提高GPS BLOCK IIF卫星EWL UPD的稳定性和UC三频PPP的定位性能。EWL UPD的平均标准差（STD）从0.064周减小到0.021周,提高了67.2%。UC三频PPP在东（E）、北（N）、天顶（U）三方向分别从4.63 cm,3.04 cm和8.76 cm减小到3.08 cm,2.00 cm和5.85 cm,平均定位精度分别提高了31.5%,34.2%和33.2%。收敛时间小于20 min的比例从66.3%提高到71.8%,提高了5.5%。平均收敛时间从21.13 min缩短到17.24 min,减少了18.4%。     

Receiver clock-based integrity monitoring for GPS precision approaches

The errors in the vertical position and clock bias estimates obtained from GPS pseudo-range measurements are highly correlated. Therefore, the error in a vertical position estimate can be predicted if we know the clock bias estimation error. The latter can be estimated if the clock bias changes smoothly and, therefore, predictably. The current technology appears capable of manufacturing clocks which can meet this smoothness requirement for airborne use within the constraints of size, weight, and cost. We discuss the theoretical basis and present empirical data from laboratory and field experiments with a commercial rubidium standard to explore the benefits of integrity monitoring for precision approaches based on the receiver clock.     

Ensembling clocks of Global Positioning System

The Global Positioning System (GPS) is a satellite navigation system capable of providing 15-m position accuracy. Its system time reference is currently one of the monitor station clocks. Using a simple two-clock example, it is shown analytically that improved reference time stability and overall state estimation accuracy can be achieved by constructing GPS time as an ensemble of all system clocks and that the problem of covariance divergence can be handled by the introduction of pseudomeasurement processing     

Clock Synchronization from Satellite Tracking

The tracking of synchronous satellites to provide propagation delays for the synchronization of clocks is described. The tracking is accomplished by range measurements to the satellite from three stations using signals transponded by the satellite. These same signals also functioned as the timing signals for the synchronization of other stations' clocks. Although the range measurements were of low resolution by usual standards, approximately 3000 meters, they provided the delays necessary to synchronize clocks to 40 microseconds or better. These results were obtained over a 4-month period using two satellites with measurements from five stations in the United States and South America.     

导航卫星时频系统发展综述

全球各大卫星导航系统近年来发展迅速,性能持续提升,其中卫星时频系统的高性能、稳定可靠和保持星间时频同步是系统实现高精度测量的基础.介绍了目前应用于各卫星导航系统的铷钟、氢钟、铯钟等星载原子钟和时频生成与保持技术的特点、发展概况及在轨应用情况.面向精度提升和自主运行能力提升的需求,分析了可能应用于下一代导航卫星的星载原子钟技术、星上时频生成与保持单元性能提升方法以及星间高精度激光时频同步技术,以支撑未来时频基准的天基化和我国综合PNT体系的建设.     

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).