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采用2015年5月24日—30日的Swarm星载GPS双频观测数据,基于Melbourne-Wübbena(MW)和消电离层线性组合,在精密单点定位技术的基础上,采用批处理最小二乘估计法对不同轨道高度的Swarm系列卫星进行非差运动学精密定轨。利用星载GPS相位观测值残差、与欧空局发布的简化动力学轨道对比,以及SLR检核3种方法对Swarm系列卫星非差运动学定轨结果进行精度评估。结果表明:①Swarm系列卫星星载GPS相位观测值残差RMS为6~7 mm;②与欧空局发布的简化动力学轨道进行求差,径向、切向及法向轨道差值RMS为2~4 cm;③与欧空局发布的运动学轨道进行求差,径向、切向及法向轨道差值RMS为1~2 cm;④SLR检核结果表明Swarm-A/B/C卫星轨道精度为3~4 cm。因此,采用非差运动学定轨方法与本文提供的定轨策略进行Swarm系列卫星精密定轨是切实可行的,定轨精度为厘米级。 相似文献
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Precision real-time navigation of LEO satellites using global positioning system measurements 总被引：4，自引：3，他引：1
Continued advancements in remote sensing technology along with a trend towards highly autonomous spacecraft provide a strong
motivation for accurate real-time navigation of satellites in low Earth orbit (LEO). Global Navigation Satellite System (GNSS)
sensors nowadays enable a continuous tracking and provide low-noise radiometric measurements onboard a user spacecraft. Following
the deactivation of Selective Availability a representative real-time positioning accuracy of 10 m is presently achieved by
spaceborne global positioning system (GPS) receivers on LEO satellites. This accuracy can notably be improved by use of dynamic
orbit determination techniques. Besides a filtering of measurement noise and other short-term errors, these techniques enable
the processing of ambiguous measurements such as carrier phase or code-carrier combinations. In this paper a reference algorithm
for real-time onboard orbit determination is described and tested with GPS measurements from various ongoing space missions
covering an altitude range of 400–800 km. A trade-off between modeling effort and achievable accuracy is performed, which
takes into account the limitations of available onboard processors and the restricted upload capabilities. Furthermore, the
benefits of different measurements types and the available real-time ephemeris products are assessed. Using GPS broadcast
ephemerides a real-time position accuracy of about 0.5 m (3D rms) is feasible with dual-frequency carrier phase measurements.
Slightly inferior results (0.6–1 m) are achieved with single-frequency code-carrier combinations or dual-frequency code. For
further performance improvements the use of more accurate real-time GPS ephemeris products is mandatory. By way of example,
it is shown that the TDRSS Augmentation Service for Satellites (TASS) offers the potential for 0.1–0.2 m real-time navigation
accuracies onboard LEO satellites. 相似文献
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基于区域参考站网的网络实时动态定位(real-time kinematic,RTK)方法是实现全球定位系统(global positioning system,GPS)、北斗卫星导航系统(BeiDou satellite navigation system,BDS)高精度定位的主要手段。研究了一种长距离GPS/BDS双系统网络RTK方法,首先采用长距离参考站网GPS/BDS多频观测数据确定宽巷整周模糊度,利用引入大气误差参数的参数估计模型解算GPS/BDS双差载波相位整周模糊度;然后按照长距离参考站网观测误差特性的不同,分类处理参考站观测误差,利用误差内插法计算流动站观测误差,以改正流动站GPS/BDS双系统载波相位观测值的观测误差;最后使用流动站多频载波相位整周模糊度解算方法确定GPS/BDS载波相位整周模糊度并解算位置参数。使用长距离连续运行参考站(continuously operating reference stations,CORS)网的实测数据进行实验,结果表明,该方法能够利用长距离GPS/BDS参考站网实现流动站的厘米级定位。 相似文献
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实时GNSS精密单点定位(PPP)技术必须使用实时的高精度卫星精密轨道和钟差。本文研究了精密卫星钟差融合解算模型及策略,并利用滤波算法实现了北斗/GPS实时精密卫星钟差融合估计算法。仿真实时试验结果显示:获得的北斗/GPS实时钟差与GFZ事后多GNSS精密钟差(GBM)的标准差在0.15 ns左右;使用该钟差进行GPS动态PPP试验,收敛后水平精度优于5 cm,高程精度优于10 cm;使用仿真实时钟差进行的北斗动态PPP与使用GFZ事后多GNSS精密钟差开展的试验相比精度相当,可实现分米级定位。 相似文献
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The performance of real-time single-frequency precise point positioning is demonstrated in terms of position accuracy. This precise point positioning technique relies on predicted satellite orbits, predicted global ionospheric maps, and in particular on real-time satellite clock estimates. Results are presented using solely measurements from a user receiver on the L1-frequency (C1 and L1), for almost 3?months of data. The empirical standard deviations of the position errors in North and East directions are about 0.15?m, and in Up direction about 0.30?m. The 95% errors are about 0.30?m in the horizontal directions, and 0.65?m in the vertical. In addition, single-frequency results of six receivers located around the world are presented. This research reveals the current ultimate real-time single-frequency positioning performance. To put these results into perspective, a case study is performed, using a moderately priced receiver with a simple patch antenna. 相似文献
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The network-based real-time kinematic (RTK) positioning has been widely used for high-accuracy applications. However, the precise point positioning (PPP) technique can also achieve centimeter to decimeter kinematic positioning accuracy without restriction of inter-station distances but is not as popular as network RTK for real-time engineering applications. Typically, PPP requires a long initialization time and continuous satellite signals to maintain the high accuracy. In case of phase breaks or loss of signals, re-initialization is usually required. An approach of instantaneous cycle slips fixing using undifferenced carrier phase measurements is proposed, which leads to instantaneous re-initialization for real-time PPP. In the proposed approach, various errors such as real-time orbit and clock errors, atmosphere delay and wind-up effects are first refined and isolated from integer cycle slips. The integer values of cycle slips can then be estimated and fixed with the LAMBDA technique by applying a cascade cycle slip resolution strategy. Numerical experiments with different user dynamics are carried out to allow a comprehensive evaluation of efficiency and robustness of the cycle slip fixing algorithm. The results show that the cycle slips can be fixed correctly in all cases considered and that data gaps of up to 300?s can be connected with high confidence. As a result, instantaneous re-initialization is achieved in the real-time PPP processing. 相似文献
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在各种摄动因素的作用下,导航卫星将逐渐偏离其预定轨道,因而需要通过轨道机动的方法来予以纠正。但轨道机动后,由预报轨道所提供的轨道先验信息将失去作用,这是用星间距离观测值和先验轨道信息进行导航卫星自主定轨时必须要解决的问题。提出机动后,机动卫星采用几何法来确定自己的位置,然后用动力学法来进行轨道拟合和轨道预报,在机动后第二天就能恢复正常的自主定轨。即使有多个卫星在同一天发生机动,个别卫星因可观测卫星不足4个而无法定轨,在第二天就能实现几何法定位,不会影响整个系统的导航定位功能。 相似文献
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实时导航定位中需要利用广播星历实时计算卫星位置,日本建设的准天顶卫星系统(QZSS)计算卫星位置时通过不断迭代提高计算精度,导致实时解算效率降低. 为了保证QZSS广播星历坐标计算精度且提高运算效率,提出利用切比雪夫多项式拟合卫星轨道. 首先,使用原有方法计算卫星位置,以精密星历为参考,验证QZSS广播星历的卫星坐标精度为米级;然后,针对卫星三维(3D)坐标使用切比雪夫多项式进行拟合,并讨论影响拟合精度的因素,在拟合时间间隔固定时,最优拟合阶数随节点个数增多而增大;不同时间间隔下,不同轨道类型的最优拟合阶数不相等,同一轨道最优拟合阶数相等,但随时间间隔的增大拟合误差也逐渐增大. 结果表明:使用切比雪夫多项式拟合QZSS广播星历时,针对不同的轨道类型选择合适的拟合时间间隔和拟合阶数,其拟合精度和运算效率均可满足需要. 相似文献
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Precision spacecraft navigation using a low-cost GPS receiver 总被引：1，自引：1，他引：0
Oliver Montenbruck Paul Swatschina Markus Markgraf Stefano Santandrea Joris Naudet Etienne Tilmans 《GPS Solutions》2012,16(4):519-529
Within the PROBA-2 microsatellite mission, a miniaturized single-frequency GPS receiver based on commercial-off-the-shelf (COTS) technology is employed for onboard navigation and timing. A rapid electronic fuse protects against destructive single-event latch-ups (SEL) and enables a quasi-continuous receiver operation despite the inherent sensitivity to space radiation. While limited to single-frequency C/A-code tracking with a narrow-band frontend, the receiver is able to provide precision navigation services through processing of raw GPS measurements on ground as well as a built-in real-time navigation system. In both cases, ionospheric path delays are eliminated through a combination of L1 pseudorange and carrier phase measurements, which also offers a factor-of-two noise reduction relative to code-only processing. By comparison with satellite laser ranging (SLR) measurements, a 0.3-m (3D rms) accuracy is demonstrated for the PROBA-2 reduced dynamic orbit determinations using post-processed GPS orbit and clock products. Furthermore, the experimental onboard navigation system is shown to provide real-time position information with a 3D rms accuracy of about 1?m, which notably outperforms the specification of the Standard Positioning Service (SPS). In view of their lower hardware complexity, mass budget and power requirements as well as the reduced interference susceptibility, legacy C/A-code receivers can thus provide an attractive alternative to dual-frequency receivers even for demanding navigation applications in low Earth orbit. 相似文献
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利用Jason-3星载GPS观测数据,采用简化动力学方法和运动学方法对Jason-3卫星进行精密定轨研究. 通过载波相位残差、重叠轨道对比、参考轨道对比和卫星激光测距(SLR)轨道检核四种方式评定轨道精度. 计算相位残差均方根(RMS)值,简化动力学轨道的RMS值在0.7～0.8 cm,运动学轨道的RMS值在0.50～0.55 cm;简化动力学轨道重叠部分径向RMS值达到0.32 cm,运动学轨道重叠部分径向RMS值达到1.12 cm;与国际DORIS服务(IDS)官方提供的参考轨道对比,简化动力学轨道径向精度达到1.47 cm,运动学轨道径向精度达到4.36 cm;利用SLR观测数据进行核验,简化动力学轨道精度整体优于2.1 cm,运动学轨道精度整体优于3.3 cm. 通过实验证明:Jason-3卫星的简化动力学轨道和运动学轨道的精度均达到cm级. 相似文献
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Cheinway Hwang Tzu-Pang Tseng Tingjung Lin Dražen Švehla Bill Schreiner 《Journal of Geodesy》2009,83(5):477-489
The joint Taiwan–US mission FORMOSAT-3/ COSMIC (COSMIC) was launched on April 17, 2006. Each of the six satellites is equipped
with two POD antennas. The orbits of the six satellites are determined from GPS data using zero-difference carrier-phase measurements
by the reduced dynamic and kinematic methods. The effects of satellite center of mass (COM) variation, satellite attitude,
GPS antenna phase center variation (PCV), and cable delay difference on the COSMIC orbit determination are studied. Nominal
attitudes estimated from satellite state vectors deliver a better orbit accuracy when compared to observed attitude. Numerical
tests show that the COSMIC COM must be precisely calibrated in order not to corrupt orbit determination. Based on the analyses
of the 5 and 6-h orbit overlaps of two 30-h arcs, orbit accuracies from the reduced dynamic and kinematic solutions are nearly
identical and are at the 2–3 cm level. The mean RMS difference between the orbits from this paper and those from UCAR (near
real-time) and WHU (post-processed) is about 10 cm, which is largely due to different uses of GPS ephemerides, high-rate GPS
clocks and force models. The kinematic orbits of COSMIC are expected to be used for recovery of temporal variations in the
gravity field. 相似文献
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Double-differenced (DD) ambiguities between overlapping frequencies from different GNSS constellations can be fixed to integers if the associated differential inter-system biases (DISBs) are well known. In this case, only one common pivot satellite is sufficient for inter-system ambiguity resolution. This will be beneficial to ambiguity resolution (AR) and real-time kinematic (RTK) positioning especially when only a few satellites are observed. However, for GPS and current operational BDS-2, there are no overlapping frequencies. Due to the influence of different frequencies, the inter-system DD ambiguities still cannot be fixed to integers even if the DISBs are precisely known. In this contribution, we present an inter-system differencing model for combined GPS and BDS single-frequency RTK positioning through real-time estimation of DISBs. The stability of GPS L1 and BDS B1 DISBs is analyzed with different receiver types. Along with parameterization and using the short-term stability of DISBs, the DD ambiguities between GPS and BDS pivot satellites and the between-receiver single-difference ambiguity of the GPS pivot satellite can be estimable jointly with the differential phase DISB term from epoch to epoch. Then the inter-system differencing model can benefit from the near time-constant DISB parameters and thus has better multi-epoch positioning performance than the classical intra-system differencing model. The combined GPS and BDS single-frequency RTK positioning performance is evaluated with various simulated satellite visibilities. It will be shown that compared with the classical intra-system differencing model, the proposed model can effectively improve the positioning accuracy and reliability, especially for severely obstructed situations with only a few satellites observed. 相似文献
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随着无人驾驶等高新技术的快速发展，实时精密单点定位在GNSS领域中受到越来越多的关注。研究实时卫星钟差的获取和实时定位精度具有较大的现实意义，本文为研究耦合BDS卫星轨道、钟差产品对定位精度的影响，采用不同精度的轨道产品实时获取卫星钟差。分析了卫星钟差误差与轨道误差之间的相关性及钟差对轨道误差的吸收能力，发现卫星钟差能够吸收95%以上的轨道径向误差和部分切线误差，在一定程度上弥补了轨道误差引起的定位误差。采用耦合的卫星轨道、钟差产品，单BDS系统定位精度可达到分米级的定位结果。 相似文献
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从2017年1月开始，北斗系统在播发基本导航电文的同时，提供了包含实时轨道改正数、钟差改正数、电离层格网改正数和分区综合改正数四重广域差分参数，使得系统具备了基于系统广播的电文参数实现广域单站实时动态分米级定位的能力。实际应用表明，北斗系统播发的分区综合改正数存在中断的情况，使得实时定位存在因重新收敛而造成跳变的情况。本文分析了分区中断期间定位跳变产生的原因，提出一种适用于分区切换的广域差分分米级定位算法。采用中国境内7个北斗测站10 d的静态数据和车载动态数据对新算法进行评估验证。结果表明，在分区改正数中断的情况下，分区切换算法得到的坐标误差与使用连续分区综合改正数结果一致，双频动态定位水平和高程方向分别小于0.3 m和0.5 m，平均三维定位精度优于0.5 m；车载实时动态定位测试中，分区切换前后的单双频定位精度不受切换影响，与切换前保持一致。分区切换算法有效保证了分区改正数中断后北斗广域分米级实时动态定位的连续性。 相似文献
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针对北斗导航卫星系统首创的GEO+IGSO+MEO混合星座设计,本文研究了根据不同星座,采取不同约束条件和数据处理策略的北斗卫星精密定轨方法,提出了一种针对北斗系统混合星座的分层约束精密定轨方案。该方案首先将北斗卫星分为非GEO(IGSO/MEO)和GEO两部分进行解算,利用GPS解算的公共参数对北斗IGSO/MEO精密定轨形成有效约束,然后固定GPS和北斗IGSO/MEO解算结果,最后单独对北斗GEO卫星进行强约束下的轨道解算。利用实测数据进行了精密定轨试验,试验结果表明:采用本文提出的方法,北斗GEO卫星和非GEO卫星三维重叠弧段轨道精度分别为0.688 m和0.042 m,比传统方法分别提高了54.2%和72.4%。另外,采用激光测距检核和测站坐标静态精密单点定位的方法对轨道精度进行了验证,激光检核精度提高了44.3%,测站坐标在水平和高程方向上精度分别平均提升了21.5%和20.7%。 相似文献
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提出一种基于单频码和相位观测量的单频精密单点定位方法,将每个观测量的电离层延迟量与接收机钟差、对流层天顶延迟、接收机位置、相位模糊度一起作为未知参数。采用约化参数的平方根信息滤波与平滑算法进行参数解算。该方法适用于实时定位和事后处理,且不需要外部的电离层模型。采用全球分布的32个IGS监测站16 d实测数据进行静态解算试验,结果表明E、N、U方向的RMS分别为0.023 m、0.018 m、0.059 m;基于一组机载GPS数据进行动态解算试验,得到E、N、U方向的RMS(与载波相位动态相对定位结果比较)分别为0.168 m、0.151 m、0.172 m。 相似文献
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当GPS、GALILEO卫星运行至与太阳、地球近似共线时,卫星很难维持名义姿态,将出现一段时间的偏航姿态异常。本文基于不同分析中心所提供的精密轨道和钟差产品,在卫星偏航姿态异常时期,设计不同姿态改正策略,选取全球分布的7个MGEX站10 d实测数据,分析了GPS、GALILEO卫星的天线相位中心改正、相位缠绕改正对观测值残差及动态PPP定位结果的影响。研究表明,在卫星偏航姿态异常时期,采用名义偏航姿态对GPS、GALILEO卫星观测值残差的影响可分别达到8和11 cm,在此期间,GPS/GALILEO卫星采用模型偏航姿态,与采用名义偏航姿态相比,动态PPP的E、N、U 3个方向的定位精度可分别提高13.30%、15.77%和12.98%,相较于剔除卫星策略,采用模型偏航姿态的动态PPP定位精度在E、N、U方向可分别提高5.399%、4.430%、5.992%。 相似文献
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随着GNSS应用的不断发展,实时位置服务已经成为国内外研究热点,而北斗卫星导航系统的实时服务尚处于发展阶段。本文基于卫星精密定轨基本原理,讨论了北斗导航卫星实时轨道确定策略;研究了基于北斗卫星质心和天线相位中心的SSR轨道改正值生成方法,并给出了一种适合北斗导航卫星的IODE值表达方式;基于国家基准站和全球MGEX站数据,进行了北斗导航卫星的实时轨道解算测试,结果表明,GEO卫星1D RMS精度优于400 cm,平均精度为223 cm,其径向精度优于20 cm;IGSO卫星精度优于30 cm,平均精度为22 cm,其径向精度优于10 cm;MEO卫星精度优于30 cm,平均精度为15 cm,其径向精度优于10 cm。 相似文献