Satellite Positioning and Orbit Determination System(SPODS):Introduction and Evaluation

The Satellite Positioning and Orbit Determination System(SPODS)is a software package for GNSS positioning/orbit determination,developed by the Xi’an Research Institute of Surveying and Mapping.So far it has been able to analyse GPS data and has the capability of high precision GPS positioning and orbit determination.The underlying theory and the performance evaluation are briefly addressed in this paper.The experiments are carried out with GPS data collected from about 127 IGS stations during 4~10 January 2009.The results show that the RMS 1D difference is 1.1 cm between SPODS orbits and final IGS combined orbits,and that the repeatability of daily solutions of station coordinates is 1.5 mm for horizontal components,and 4.5 mm for vertical component,and that the consistency of ERP solutions with IGS final products is 0.025 mas,0.093 mas and 0.013 ms/d respectively for pole coordinates and LOD.

Impact Analysis of Solar Irradiance Change on Precision Orbit Determination of Navigation Satellites

Solar radiation pressure is the main driving force and error source for precision orbit determination of navigation satellites.It is proportional to the solar irradiance,which is the"sun constant".In regular calculation,the"solar constant"is regard as a constant.However,due to the existence of sunspots,flares,etc.,the solar constant is not fixed,the change in the year is about 1%.To investigate the variation of solar irradiance,we use interpolation and average segment modeling of total solar irradiance data of SORCE,establishing variance solar radiation pressure(VARSRP)model and average solar radiation pressure(AVESRP)model based on the built solar pressure model(SRPM)(constant model).According to observation data of global positioning system(GPS)and Beidou system(BDS)in 2015 and comparing the solar pressure acceleration of VARSRP,AVESRP and SRPM,the magnitude of change can reach 10-10 m/s^2.In addition,according to the satellite precise orbit determination,for GPS satellites,the results of VARSRP and AVESRP are slightly smaller than those of the SRPM model,and the improvement is between 0.1 to 0.5 mm.For geosynchronous orbit(GEO)satellites of BDS,The AVESRP and VARSRP have an improvement of 3.5 mm and 4.0 mm,respectively,based on overlapping arc,and SLR check results show the AVESRP model and the VARSRP model is improved by 2.3 mm and 3.5 mm,respectively.Moreover,the change of inclined geosynchronous orbit(IGSO)satellites and medium earth orbit(MEO)satellites is relatively small,and the improvement is smaller than 0.5 mm.

GNSS rapid precise point positioning enhanced by low Earth orbit satellites

The Low Earth Orbit(LEO)satellites can be used to efectively speed up Precise Point Positioning(PPP)convergence.In this study,180 LEO satellites with a global distribution are simulated to evaluate their contribution to the PPP convergence.LEO satellites can give more redundant observations and improve satellite geometric distributions,particularly for a single Global Navigation Satellite System(GNSS).The convergence speed of the PPP foat solution using the Global Positioning System(GPS,G)or BeiDou Navigation Satellite System(BDS,C)single system as well as the G/C/Galileo navigation satellite system(Galileo,E)/GLObal NAvigation Satellite System(GLONASS,R)combined system with LEO satellites added is improved by 90.0%,91.0%,and 90.7%,respectively,with respect to the system without LEO satellites added.We introduced LEO observations to assist GNSS in PPP-AR(Ambiguity Resolution)and PPP-RTK(Real Time Kinematic).The success fx rate of a single system is signifcantly improved,and the Time-To-First-Fix(TTFF)of G and G/C/E is reduced by 86.4%and 82.8%,respectively,for the PPP-AR solution.We analyzed the positioning performance of LEO satellite assisted G/C/E PPP-RTK in the reference networks of diferent scales,namely diferent atmospheric delay interpolation accuracies.The success fx rate of the G/C/E combined system is improved from 86.8 to 94.9%,and the TTFF is reduced by 36.8%,with the addition of LEO satellites in the 57 km reference network.In the 110 km reference network,the success fx rate of the G/C/E combined system is improved from 64.0 to 88.6%,and the TTFF is reduced by 32.1%.GNSS PPP-RTK with adding the LEO satellites in the reference networks of diferent scales shows obvious improvement because the atmospheric correlation decreases with increasing distance from the reference networks.

顾及BDS-3星钟约束的GNSS超快速轨道钟差解算方法

BDS-3高稳定星载原子钟作为北斗星座的显著技术优势,在GNSS数据处理中尚未得到充分利用。针对严格时效性限制下GNSS超快速轨道钟差参数精度受限问题,本文提出顾及BDS-3星钟约束的GNSS超快速轨道钟差解算方法。首先,以GNSS轨道钟差参数间相关性为基础,构建顾及BDS-3星钟参数特性的GNSS定轨模型;然后,基于GNSS精密钟差产品,分析星钟约束对GNSS轨道钟差参数精度的影响规律;最后,为克服预报钟差精度与约束筛选对定轨影响,建立BDS-3星钟建模与GNSS超快速轨道钟差估计的同步处理方法。试验结果表明,在BDS-3星钟参数最优约束下,BDS-3与GPS轨道钟差精度可分别提升27.5%、5.1%和20.2%、5.2%;且较传统BDS-3星钟单历元处理策略,基于BDS-3星钟建模与GNSS超快速定轨同步处理方法,GNSS超快速轨道钟差精度可分别提升至4.8%与34.2%,轨道精度实现了毫米级改善。因此,顾及BDS-3星钟约束的GNSS超快速轨道钟差解算方法可有效对BDS-3高稳星钟信息模型化,并实现GNSS超快速轨道钟差精度的优化处理。

VLBI观测对转发式测距GEO卫星定轨精度的贡献分析

联合甚长基线干涉测量(very long baseline interferometry,VLBI)时延数据与转发式(orbit determination by transfer tracking,ODTT)测距数据能够有效提高地球静止轨道(geostationary earth orbit,GEO)卫星定轨精度。参照位置精度衰减因子(position dilution of precision,PDOP)的改变,研究不同VLBI基线时延数据与转发式测距数据的联合对GEO卫星定轨精度的改善,可为特定条件下联合观测时VLBI基线的最优选择提供参考。基于中国科学院国家授时中心宽带VLBI系统和转发式测轨系统的实测数据,开展中星12号GEO卫星的定轨试验。试验结果表明定轨精度的提高与PDOP的降低成正相关。相比于转发式单独定轨,联合VLBI系统中的喀什—三亚基线,PDOP降低了3.00,定轨精度提高了11.48%;联合VLBI系统中的吉林—喀什基线,PDOP降低了3.38,定轨精度提高了14.73%;联合VLBI系统中的吉林—三亚基线,PDOP降低了6.90,定轨精度提高了19.75%;联合VLBI系统中的吉林—三亚和吉林—喀什两条基线,PDOP降低了9.94,定轨精度提高了27.23%。

用PANDA对GPS和CHAMP卫星精密定轨

介绍了武汉大学自主研制的卫星导航系统综合处理软件PANDA;利用全球45个IGS站以及CHAMP卫星星载GPS数据,在不同条件下分别实现了GPS卫星的精密定轨,以及CHAMP卫星和GPS导航星座联合精密定轨。结果与IGS的最终精密星历以及GFZ提供的CHAMP卫星精密轨道的比较说明:PANDA软件求解的GPS导航星座和CHAMP卫星轨道精度处于同等水平。

卫星导航系统综合分析处理软件PANDA及研究进展

简要介绍了卫星导航系统综合处理软件卫星精密定轨定位综合分析软件(PANDA)的数据处理方法与策略,重点阐述了PANDA软件目前的新进展,并对PANDA软件的进一步的发展进行了讨论。软件目前的研究进展以及与国外研究水平的比较表明,PANDA软件具有很好的发展前景,可作为基础性研究的软件平台,可为我国自主导航系统及卫星应用项目的发展提供技术支持。

双线程滑动窗口多系统GNSS超快精密定轨实现及评估

全球导航卫星系统(GNSS)超快精密定轨为GNSS实时应用提供了高精度空间基准。基于天地协同定位、导航与授时(PNT)网络服务中心实现了四系统GNSS卫星超快精密定轨,并对定轨结果进行精度评价。介绍了天地协同PNT网络的概念内涵以及网络服务中心部署的超快精密定轨软件架构和详细功能,并针对实时应用需求提出了一种双线程滑动窗口超快精密定轨策略。最后利用重叠弧段比较、与外部轨道产品比较以及卫星激光测距(SLR)检核3种方式对定轨结果进行了精度评价。结果表明,与武汉大学分析中心的最终事后精密轨道产品相比,四系统GNSS MEO卫星预报6 h弧段的径向均方根(RMS)误差整体在2~5 cm水平,BDS2 IGSO卫星最小一维RMS误差在10~15 cm水平;GPS和Galileo卫星的SLR检核残差均值在1~3 cm水平,标准差在3~6 cm水平,能够满足后续厘米级实时应用对空间基准的精度需求。

钟跳探测优化的低轨卫星运动学精密定轨

为了进一步提升低轨卫星接收机钟差约束后的轨道精度,提出一种钟跳探测优化的低轨卫星运动学精密定轨方法:针对重力回溯及气候实验卫星(GRACE)和GRACE继任卫星(GFO)中存在频繁的纳秒级钟跳,给出鲁棒的钟跳探测方法和带有钟差约束的运动学精密定轨方法;然后对一个月的GRACE和GFO数据进行处理,验证方法的有效性。结果表明,钟跳次数可达208次,最大值约为0.7 m;降低钟跳历元的钟差约束权重后,和喷气推进实验室的约化动力学轨道相比,轨道跳变可被消除。

Integrating BDS and GPS for precise relative orbit determination of LEO formation flying

Low-Earth-Orbit（LEO） formation-flying satellites have been widely applied in many kinds of space geodesy. Precise Relative Orbit Determination（PROD） is an essential prerequisite for the LEO formation-flying satellites to complete their mission in space. The contribution of the BeiDou Navigation Satellite System（BDS） to the accuracy and reliability of PROD of LEO formation-flying satellites based on a Global Positioning System（GPS） is studied using a simulation method. Firstly, when BDS is added to GPS, the mean number of visible satellites increases from9.71 to 21.58. Secondly, the results show that the 3-Dimensional（3 D） accuracy of PROD, based on BDS-only, GPS-only and BDS ＋ GPS, is 0.74 mm, 0.66 mm and 0.52 mm, respectively. When BDS co-works with GPS, the accuracy increases by 29.73%. Geostationary-Earth-Orbit（GEO） satellites and Inclined Geosynchronous-Orbit（IGSO） satellites are only distributed over the Asia-Pacific region; however, they could provide a global improvement to PROD. The difference in PROD results between the Asia-Pacific region and the non-Asia-Pacific region is not apparent. Furthermore, the value of the Ambiguity Dilution Of Precision（ADOP）, based on BDS ＋ GPS, decreases by 7.50% and 8.26%, respectively, compared with BDS-only and GPS-only. Finally, if the relative position between satellites is only a few kilometres, the effect of ephemeris errors on PROD could be ignored. However, for a several-hundred-kilometre separation of the LEO satellites, the SingleDifference（SD） ephemeris errors of GEO satellites would be on the order of centimetres. The experimental results show that when IGSO satellites and Medium-Earth-Orbit（MEO） satellites co-work with GEO satellites, the accuracy decreases by 17.02%.

Phase Residual Estimations for PCVs of Spaceborne GPS Receiver Antenna and Their Impacts on Precise Orbit Determination of GRACE Satellites

In-flight phase center systematic errors of global positioning system（GPS） receiver antenna are the main restriction for improving the precision of precise orbit determination using dual-frequency GPS.Residual approach is one of the valid methods for in-flight calibration of GPS receiver antenna phase center variations（PCVs） from ground calibration.In this paper,followed by the correction model of spaceborne GPS receiver antenna phase center,ionosphere-free PCVs can be directly estimated by ionosphere-free carrier phase post-fit residuals of reduced dynamic orbit determination.By the data processing of gravity recovery and climate experiment（GRACE） satellites,the following conclusions are drawn.Firstly,the distributions of ionosphere-free carrier phase post-fit residuals from different periods have the similar systematic characteristics.Secondly,simulations show that the influence of phase residual estimations for ionosphere-free PCVs on orbit determination can reach the centimeter level.Finally,it is shown by in-flight data processing that phase residual estimations of current period could not only be used for the calibration for GPS receiver antenna phase center of foretime and current period,but also be used for the forecast of ionosphere-free PCVs in future period,and the accuracy of orbit determination can be well improved.

GPS非差精密解算软件PLAOD及其性能分析

PLAOD(precise location and orbit determination)是西南交通大学自主研发的GPS非差精密定位定轨软件.该软件目前能够处理GPS观测数据,具有高精度定位、大气反演和低轨卫星轨道确定功能.本文在介绍PLAOD相关理论的基础之上对其性能进行了分析.利用多组GPS观测数据进行测试,通过与IGS(international GNSS service)等相关机构精密产品对比,PLAOD具备如下性能:静态定位精度可达毫米级;动态定位精度可达厘米级;静态对流层天顶延迟的估计精度通常优于1 cm,动态对流层天顶延迟的估计精度在2 cm以内;电离层天顶延迟估计结果与IGS的IONEX(ionosphere exchange)产品具有较高的吻合度;与JPL(jet propulsion laboratory)提供的简化动力学低轨卫星轨道相比,几何法确定轨道的准确度可达厘米级.

Basic performance of BeiDou-2 navigation satellite system used in LEO satellites precise orbit determination

The visibility for low earth orbit（LEO） satellites provided by the BeiDou-2 system is analyzed and compared with the global positioning system（GPS）. In addition, the spaceborne receivers＇ observations are simulated by the BeiDou satellites broadcast ephemeris and LEO satellites orbits. The precise orbit determination（POD） results show that the along-track component accuracy is much better over the service area than the non-service area, while the accuracy of the other two directions keeps at the same level over different areas. However, the 3-dimensional（3D） accuracy over the two areas shows almost no difference. Only taking into consideration the observation noise and navigation satellite ephemeris errors, the 3D accuracy of the POD is about30 cm. As for the precise relative orbit determination（PROD）, the 3D accuracy is much better over the eastern hemisphere than that of the western hemisphere. The baseline length accuracy is 3.4 mm over the service area, and it is still better than 1 cm over the non-service area. This paper demonstrates that the BeiDou regional constellation could provide global service to LEO satellites for the POD and the PROD. Finally, the benefit of geostationary earth orbit（GEO） satellites is illustrated for POD.

北斗区域导航系统的PPP精度分析

北斗卫星导航系统的开放运行为其在高精度领域的应用提供了可能,系统精密单点定位性能受到了极大关注。本文首先介绍了北斗区域导航系统的星座和BDS/GPS跟踪网,分析了基于国内布站定轨的北斗卫星精密轨道和钟差精度。在此基础上研究了北斗区域导航系统静态、动态精密单点定位精度,并与GPS定位结果进行比较。实测算例表明:北斗精密单点定位可以实现静态厘米级、动态分米级的定位精度,达到目前GPS精密单点定位水平。

固定非差整数模糊度的PPP快速精密定位定轨

从GPS基本观测模型出发,给出并推导了分离相位小数偏差求解非差整数模糊度的精密单点定位数学模型和算法.利用少量IGS跟踪站组成服务端观测网计算未检校的相位小数偏差改正信息,用于改正用户端接收机的相位观测值,实现了固定非差整数模糊度的快速精密单点定位与定轨.试验结果表明:利用30min的地面动态或静态观测数据进行精密单点定位,非差模糊度固定成整数后,其定位结果较PPP浮点解有明显改善,水平方向提高了近一个数量级,可达到1cm甚至毫米级的精度;高程方向与对流层延迟解算精度也改善了20%～60%.与浮点解相比,固定解能显著改善PPP的定轨精度,仅用15min的短弧段观测数据,切向与法向的定轨精度可达到1cm左右;径向方向为3～5cm左右,较浮点解定轨精度改善了50%～70%.因此,固定非差整数模糊度后的PPP能够满足毫米至厘米级的快速精密定位和定轨的要求,这在GPS(准)实时应用与服务中具有很好的应用前景.

利用非组合精密单点定位技术确定斜向电离层总电子含量和站星差分码偏差

联合双频GPS数据,利用相位平滑伪距算法,可得到包含斜向电离层总电子含量(slant total electron content,sTEC)、测站和卫星差分码偏差(differential code bias,DCB)的电离层观测值(称之为"平滑伪距电离层观测值"),常应用于与电离层有关的研究。然而,平滑伪距电离层观测值易受平滑弧段长度和与测站有关的误差影响。提出一种新算法:利用非组合精密单点定位技术(precise point positioning,PPP)计算电离层观测值(称之为"PPP电离层观测值"),进而估计sTEC和站星DCB。基于短基线试验,先用一台接收机按上述两种方法估计sTEC,用于改正另一接收机观测值的电离层延迟以实施单频PPP,结果表明,利用PPP电离层观测值得到的sTEC精度较高,定位结果的可靠性较强。随后,选取全球分布的8个IGS(internationalGNSS service)连续跟踪站2009年1月内某四天的观测数据,利用上述两种电离层观测值计算所有卫星的DCB,并将计算结果与CODE发布的月平均值进行比较,其中,平滑伪距电离层观测值的卫星DCB估值与CODE(Centre for Orbit Deter mination in Europe)发布值的差别较大,部分卫星甚至可达0.2～0.3 ns,而PPP电离层观测值而言,绝大多数卫星对应的差异均在0.1 ns以内。

北斗卫星导航系统实时定轨与钟差处理策略

目前鲜有对北斗卫星导航系统（BeiDou Navigation Satellite System,BDS）实时精密定轨与钟差确定的研究,文章提出了BDS实时轨道与实时钟差处理策略,包括了观测与动力学模型、实时轨道与实时钟差处理流程与评估方法。尤其对于实时钟差,为了提高计算效率,联合使用两个独立并行的线程估计非差绝对钟差和历元间相对钟差。利用多模全球卫星导航系统试验（MGEX）与全球连续检测评估系统（iGMAS）实测数据进行了北斗实时轨道与钟差解算,BDS实时轨道径向平均精度对于GEO卫星优于20 cm,对于IGSO与MEO一般优于10cm;钟差精度对于GEO卫星为0.5~4.5ns,对于IGSO/MEO为0.2~2.0ns。基于目前的轨道与钟差结果,实时精密单点定位（Precise Point Positioning,PPP）结果可以达到分米量级。

基于双星定位系统的近地卫星联合定轨建模及精度分析

通过对基于双星定位系统的近地卫星联合定轨测量模式的分析,建立了基于距离和观测数据的联合定轨模型,构建了一种有效的系统误差参数估计方法,设计了一种基于数值融合法的联合定轨算法.仿真计算结果表明,联合定轨方式可以较好地抑制静地卫星星历误差对近地卫星定轨精度的影响,两天观测数据下近地卫星定轨精度可以达到11.26米,验证了本文所提出的系统误差估计方法及数值融合实现算法的有效性.

GPS精密单点定位模型及其应用分析

讨论了GPS精密单点定位中的3种常用模型——传统模型、UofC模型和无模糊度模型。将这3种模型分别应用到星载GPS卫星的非差运动学定轨实践中,并对定轨结果进行了比较、分析。结果表明,3种模型在精度和实时性方面各有优点,应用中应根据具体情况进行选择。

北斗卫星导航系统精密定轨和广播星历轨道精度分析

为了分析北斗卫星导航系统导航定位服务能力,基于2013年国际GNSS服务组织（International GNSS Service,IGS）多GNSS试验（Multi-GNSSExperiment,M-GEX）、荷兰辉固公司（Furgo）、武汉大学北斗试验跟踪网（BeiDou Experiment Tracking System,BETS）和国际激光服务组织（International Laser Ranging Service,ILRS）等4个跟踪网观测数据,首先进行卫星精密定轨及精度评定,然后采用与事后精密轨道比较、激光检核等方式进行广播星历轨道精度评定,最后分析广播星历轨道对用户定位的影响.结果表明：基于载波相位观测数据的北斗地球静止卫星（Geostationary Earth Orbit,GEO）卫星精密定轨中切向分量存在1～4m级的常偏量误差,而基于时间比对和平滑伪距观测数据的广播星历切向分量没有这一现象;北斗卫星精密定轨径向、法向精度分别可以达到0.1m和0.2m;广播星历径向、法向精度分别为0.5m和1m 左右,轨道引起的用户测距误差（User Range Error,URE）平均为0.57m.