顾及群延迟变化的区域网实时卫星钟差估计方法

姜庭威; 唐成盼; 胡小工; 周善石; 曹月玲

doi:10.13700/j.bh.1001-5965.2023.0615

顾及群延迟变化的区域网实时卫星钟差估计方法

doi: 10.13700/j.bh.1001-5965.2023.0615

姜庭威^{1, 2},
唐成盼^1, ,,
胡小工¹,
周善石¹,
曹月玲¹

1.
中国科学院上海天文台，上海 200030
2.
中国科学院大学，北京 100049

详细信息

通讯作者:
E-mail：cptang@shao.ac.cn

中图分类号: P228.1
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出版历程
- 收稿日期: 2023-09-27
- 录用日期: 2023-11-20
- 网络出版日期: 2023-12-04
- 整期出版日期: 2025-11-25

Method for regional real-time satellite clock offset estimation considering group delay variation

1.
Shanghai Astronomy Observatory，Chinese Academy of Sciences，Shanghai 200030，China
2.
University of Chinese Academy of Sciences，Beijing 100049，China

More Information

Corresponding author: E-mail：cptang@shao.ac.cn

摘要

摘要:
基于区域网的实时卫星钟差估计，是北斗PPP-B2b等区域精密单点定位 (PPP)服务的重要前提。然而，受测站分布限制，卫星频繁出入境，区域网实时钟差频繁重新收敛，钟差面临精度较低、常数偏差等问题。群延迟变化 (GDV) 是伪距中与卫星高度角等因素相关的慢变部分，GDV的存在会影响区域网钟差的收敛性，需要予以改正。因此，对15个区域站与北斗三号 (BDS-3) 全球定位系统 (GPS) 卫星之间的GDV进行提取与建模，并将建模后的GDV应用于区域网实时钟差估计中，以分析GDV对区域网钟差的影响。结果表明：考虑GDV改正后， BDS-3与GPS卫星钟差误差的均方根 (RMS) 分别减小了24%和18%，标准差 (STD) 分别提升了56%和52%；区域网钟差被用于动态PPP，使用顾及GDV改正的区域网卫星钟差后，BDS-3单系统动态PPP的水平方向和高程方向的定位精度分别提升了37%和19%，GPS单系统动态PPP的水平方向和高程方向的定位精度分别提升了49%和27%，GPS/BDS-3双系统动态PPP的水平方向和高程方向定位精度分别提升了61%和32%。
- 实时钟差估计 /
- 群延迟变化 /
- BDS-3卫星 /
- GPS卫星 /
- 精密单点定位
Abstract:
Real-time satellite clock estimation based on regional networks is a prerequisite for regional precise point positioning (PPP) services such as the BDS-3 PPP-B2b service. However, issues like low precision and persistent bias plague regional real-time satellite clock estimate, which is constrained by the dispersion of ground stations. Group delay variation (GDV), which varies with satellite elevation angle, is the low-frequency part of the code multipath. The existence of GDV will affect the convergence of the regional network clock estimation and needs to be corrected. Therefore, this contribution extracts and models GDV between 15 regional stations and BDS-3/ global positioning system（GPS） satellites, and applies the GDV model to real-time clock estimation based on regional observation, and analyzes its impact. The results show that, after considering the GDV correction, the root mean square (RMS) of BDS-3 and GPS satellite clock offsets are reduced by 24% and 18%, respectively; the standard deviation (STD) is increased by 56% and 52% for BDS-3 and GPS, respectively. Finally, the clock offset is used in kinematic PPP. The BDS-3-only positioning accuracy is improved by 37% and 19% in the horizontal and vertical directions, respectively, by using the clock offset that accounts for the GDV correction. A similar conclusion can also be found in the GPS-only case, whose positioning accuracy is increased by 49% and 27% in the horizontal and vertical direction, respectively, and in the GPS/BDS-3 case, whose accuracy is increased by 61% and 32%.
- real-time satellite clock offset estimation /
- group delay variation /
- BDS-3 satellite /
- GPS satellite /
- precise point positioning

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图 1 用于钟差估计的IGS测站分布

Figure 1. Distribution of IGS stations used for clock estimation

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图 2 BRST站与C35之间的伪距残差与GDV

Figure 2. Code residuals and GDV between BRST and C35

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图 3 TLSE站与BDS-3/GPS卫星间的GDV拟合结果

Figure 3. GDV fitting results between TLSE and BDS-3/GPS satellites

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图 4 WSRT站与BDS-3/GPS卫星间的GDV拟合结果

Figure 4. GDV fitting results between WSRT and BDS-3 /GPS satellites

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图 5 2组GDV参数（TLSE站与卫星）的差异

Figure 5. Differences between two sets of GDV parameters (between TLSE and satellites)

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图 6 修正与不修正GDV时的钟差STD比较

Figure 6. Comparison of STD of clock offsets with or without GDV correction

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图 7 修正与不修正GDV时的钟差RMS比较

Figure 7. Comparison of RMS of clock offsets with or without GDV correction

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图 8 使用不考虑GDV改正的区域网钟差，GRAZ站单天动态PPP定位误差序列

Figure 8. Sequence of single-day kinematic PPP positioning error of GRAZ using regional real-time clock without GDV correction

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图 9 使用考虑GDV改正的区域网钟差，GRAZ站单天动态PPP定位误差序列

Figure 9. Sequence of single-day kinematic PPP positioning error of GRAZ using regional real-time clock with GDV correction

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表 1 区域网钟差STD与RMS统计

Table 1. STD and RMS statistics of clock offset based on regional network

卫星	是否修正GDV	STD/ns		RMS/ns
卫星	是否修正GDV	最大值	平均值	最大值	平均值
BDS-3	不修正	0.46	0.27	5.86	3.77
BDS-3	修正	0.27	0.12	5.12	2.87
GPS	不修正	0.52	0.23	5.45	2.72
GPS	修正	0.23	0.11	4.94	2.24

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表 2 使用不同钟差时，各测站仅BDS-3单系统动态PPP定位误差

Table 2. BDS-3-only kinematic PPP positioning error of each station using two different clocks

测站	水平方向定位误差/m		高程方向定位误差/m
测站	不修正	修正	不修正	修正
BUCU	0.298	0.107	0.389	0.148
GRAZ	0.232	0.105	0.337	0.263
HUEG	0.271	0.128	0.293	0.281
ONSA	0.149	0.186	0.240	0.222
MAR7	0.181	0.157	0.275	0.243
MET3	0.323	0.122	0.356	0.326

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表 3 使用不同钟差时，各测站仅GPS单系统动态PPP定位误差

Table 3. GPS-only kinematic PPP positioning error for each station using two different clocks

测站	水平方向定位误差/m		高程方向定位误差/m
测站	不修正	修正	不修正	修正
BUCU	0.120	0.056	0.179	0.127
GRAZ	0.104	0.056	0.199	0.140
HUEG	0.132	0.062	0.202	0.138
ONSA	0.099	0.062	0.154	0.089
MAR7	0.124	0.048	0.218	0.178
MET3	0.277	0.147	0.320	0.273

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表 4 使用不同钟差时，各测站GPS+BDS-3双系统动态PPP定位误差

Table 4. GPS+BDS-3 kinematic PPP positioning error for each station using two different clocks

测站	水平方向定位误差/m		高程方向定位误差/m
测站	不修正	修正	不修正	修正
BUCU	0.115	0.043	0.156	0.120
GRAZ	0.088	0.031	0.176	0.110
HUEG	0.128	0.048	0.201	0.130
ONSA	0.097	0.039	0.152	0.063
MAR7	0.166	0.080	0.176	0.168
MET3	0.190	0.062	0.219	0.153

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