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摘要:
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%。
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关键词:
- 北斗三号系统(BDS-3) /
- B1I/B3I /
- 等效钟差 /
- 电离层格网信息 /
- 广域差分服务精度
Abstract:In order to ensure the smooth transition of the wide-area differential service of the Beidou system, the Beidou-3 System (BDS-3) uses D2 navigation message on GEO satellite to broadcast the equivalent clock correction and ionospheric grid information on B1I/B3I frequency. This paper analyzes the characteristics of the equivalent clock correction and ionospheric grid information after adding the BDS-3 satellite, and compares the User Differential Range Error (UDRE) of satellite between the BDS-2 and the BDS-3. Combined with the measured data of BDS-2 and BDS-3, this paper also evaluates the positioning accuracy of wide-area differential service of BDS-3. The analysis results show that, after using the equivalent clock correction, the User Equivalent Range Error (UERE) of the BDS-2 satellite changes from approximately 1 meter to approximately 0.3 meters, while the BDS-3 satellite UERE changes from approximately 0.4 meters to approximately 0.2 meters. The results show that the equivalent clock correction can correct the space signal step error brought by the update of the broadcast message, and significantly improve the satellite space signal accuracy. Compared with the Klobuchar 8 model broadcast by the basic navigation system, the ionospheric grid information broadcast by the wide-area differential system can improve the accuracy of ionospheric error correction by about 18%. In comparison with BDS-2 single system, the accuracy of single-frequency positioning for BDS-2/BDS-3 can be improved by 26%, while that of dual-frequency positioning can be improved by 41%. The positioning accuracy of single-frequency users for wide-area differential services is 2.4 meters, and the positioning accuracy of dual-frequency users is 1.7 meters, which is improved by 13% and 41% respectively.
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图 2 C20卫星的等效钟差改正数与导航电文误差序列
Figure 2. Time series of equivalent clock correction and navigation message error of satellite C20
图 3 C23卫星的等效钟差改正数与其广播钟差预报误差的比较
Figure 3. Comparison of equivalent clock correction and prediction error of broadcast clock of satellite C23
图 4 C20卫星B1I/B3I频点UERE与UDRE对比
Figure 4. Comparison of UERE and UDRE on B1I/B3I frequency point of satellite C20
图 5 三种模式下基于C01卫星B1I频点伪距解算的电离层误差
Figure 5. Ionospheric error calculated based on the B1I pseudorange of C01 satellite in three modes
图 7 四川某站观测北斗卫星空间几何分布
Figure 7. Geospatial distribution of BDS satellite observed in one station of Sichuan
图 8 四种模式下B1I单频定位精度
Figure 8. Accuracy statistics of single-frequency positioning on B1I in four modes
图 9 四种模式下B1I
Figure 9. Accuracy statistics of dual-frequency positioning on B1I/B3I in 4 modes
表 1 北斗二号协议广域差分服务的信息类别及更新周期[12]
Table 1. Information types and update period of the wide area differentiated services of BDS-2 protocol[12]
北斗系统增强信息 更新周期/s 参数范围 等效钟差改正数Δt 18 -409.6~819.2 m 用户差分距离误差指数(UDREI) 3 0~15 格网点电离层信息(Ion) 180 0~63.625 m(覆盖范围为东经70°~145°，北纬7.5°~55°，按经纬度5°×2.5°进行划分) 格网点电离层垂直延迟改正数误差指数(GIVEI) 180 0~15 
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表 2 北斗二号协议广域差分服务所增强的卫星信息
Table 2. Information of satellites enhanced by the wide area differential services of BDS-2 protocol
卫星编号 归属 卫星类型 卫星编号 归属 卫星类型 C01 BDS-2 GEO C02 BDS-2 GEO C03 BDS-2 GEO C04 BDS-2 GEO C05 BDS-2 GEO C06 BDS-2 IGSO C07 BDS-2 IGSO C08 BDS-2 IGSO C09 BDS-2 IGSO C10 BDS-2 IGSO C11 BDS-2 MEO C12 BDS-2 MEO C13 BDS-2 IGSO C14 BDS-2 MEO C16 BDS-2 IGSO C18 BDS-2 GEO C19 BDS-3 MEO C20 BDS-3 MEO C21 BDS-3 MEO C22 BDS-3 MEO C23 BDS-3 MEO C24 BDS-3 MEO C25 BDS-3 MEO C26 BDS-3 MEO C27 BDS-3 MEO C28 BDS-3 MEO C29 BDS-3 MEO C30 BDS-3 MEO C32 BDS-3 MEO C33 BDS-3 MEO C34 BDS-3 MEO C35 BDS-3 MEO C36 BDS-3 MEO C37 BDS-3 MEO C38 BDS-3 IGSO C39 BDS-3 IGSO C40 IGSO MEO C43 BDS-3 MEO C41 BDS-3 MEO C45 BDS-3 MEO C44 BDS-3 MEO C59 BDS-3 GEO
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表 3 C1和C2常量取值
Table 3. Constant values of C1 and C2
卫星类型 MEO GEO/IGSO C1 0.981 0.992 C2 0.136 0.088
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表 4 北斗卫星UERE和UDRE统计
Table 4. Statistics of UERE and UDRE for BDS satellites
卫星编号 UERE/m UDRE/m 精度提升比例/% 卫星编号 UERE/m UDRE/m 精度提升比例/% C01 0.77 0.25 67.5 C19 0.24 0.1 58.3 C02 0.62 0.12 80.6 C20 0.69 0.15 78.3 C03 0.28 0.33 -17.9 C21 0.43 0.13 69.8 C04 0.63 0.25 60.3 C22 0.32 0.18 43.8 C05 1.97 0.44 77.7 C23 0.33 0.09 72.7 C06 1.21 0.37 69.4 C24 0.35 0.12 65.7 C07 0.85 0.46 45.9 C25 0.46 0.19 58.7 C08 0.97 0.26 73.2 C26 0.43 0.16 62.8 C09 0.98 0.29 70.4 C27 0.55 0.14 74.5 C10 1.02 0.17 83.3 C28 0.41 0.19 53.7 C11 0.67 0.19 71.6 C29 0.38 0.19 50.0 C12 1.61 0.2 87.6 C30 0.3 0.14 53.3 C13 1.42 0.16 88.7 C32 0.26 0.1 61.5 C14 1.56 0.61 60.9 C33 0.45 0.17 62.2 C16 1.09 0.23 78.9 C34 0.32 0.13 59.4 C35 0.54 0.29 46.3 C36 0.28 0.15 46.4 C37 0.39 0.22 43.6 均值 1.04 0.29 66.65 均值 0.40 0.16 58.94
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表 5 仅BDS-2和BDS-2/BDS-3的基本导航与广域差分单频定位结果统计
Table 5. Statistics of single-frequency positioning results on two modes of basic navigation and wide-area differential for single BDS-2 and combination of BDS-2/BDS-3
m 测站编号 BDS-2 BDS-2 & BDS-3 基本导航 广域差分 基本导航 广域差分 水平 高程 水平 高程 水平 高程 水平 高程 STA1 1.98 3.83 1.20 2.27 1.27 2.88 0.83 2.03 STA2 1.66 3.31 1.12 2.04 1.09 2.68 0.75 1.96 STA3 1.13 3.34 1.82 1.80 0.84 2.80 1.12 2.27 STA4 1.76 3.35 1.21 2.21 1.77 2.96 0.83 1.98 STA5 2.14 2.87 1.55 2.12 1.43 2.53 1.25 2.00 STA6 1.55 4.15 1.33 2.53 0.99 3.19 0.98 2.54 STA7 1.34 3.93 1.00 2.87 0.93 3.21 0.77 2.88 STA8 1.39 4.29 1.09 3.13 0.94 3.25 0.77 2.62 STA9 1.77 3.22 1.30 1.79 1.01 2.35 0.74 1.58 STA10 2.86 4.87 1.78 3.07 1.47 2.34 1.47 2.07 均值 1.76 3.72 1.34 2.38 1.17 2.82 0.95 2.19
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表 6 仅BDS-2和BDS-2/BDS-3的基本导航与广域差分双频定位结果统计
Table 6. Statistics of dual-frequency positioning results on two modes of basic navigation and wide-area differential for single BDS-2 and combination of BDS-2/BDS-3
m 测站编号 BDS-2 BDS-2/BDS-3 基本导航 广域差分 基本导航 广域差分 水平 高程 水平 高程 水平 高程 水平 高程 STA1 3.27 4.29 2.37 3.24 1.76 2.19 1.05 1.42 STA2 2.13 3.02 0.95 1.57 1.12 1.93 0.50 0.96 STA3 1.50 2.66 1.30 2.25 1.10 2.04 0.79 1.58 STA4 1.42 2.58 0.79 2.29 1.01 2.09 0.51 1.94 STA5 3.10 4.98 2.04 3.48 1.59 3.14 1.21 2.22 STA6 2.04 4.20 1.22 2.55 1.11 2.59 0.70 1.54 STA7 2.00 3.54 0.95 1.87 1.25 2.19 0.64 1.36 STA8 2.13 4.56 1.14 3.17 1.26 2.61 0.73 1.74 STA9 2.53 3.31 1.30 1.93 1.21 2.40 0.57 1.28 STA10 3.45 5.98 1.42 3.53 1.28 2.36 0.69 1.60 均值 2.36 3.91 1.35 2.59 1.27 2.35 0.74 1.56
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