光纤时间传递溯源钟差粗差探测算法

卫星导航系统时间对溯源链路的可靠性和同步精度提出要求。采用光纤时间传递技术实现的溯源链路可获得高精度的溯源钟差,提高卫星导航系统时间同步精度。但由于光纤传输链路、光纤设备和基准输入信号等中断或干扰降低溯源链路可靠性并导致溯源钟差存在粗差影响溯源模型精度,因此需要对溯源链路状态实时监测,并在估计溯源模型参数前对溯源钟差数据进行粗差探测。对此,通过引入最小二乘推估理论,推导基于光纤时间传递的溯源钟差拟合残差统计特性,提出针对光纤时间传递溯源钟差的滑动窗口粗差实时探测方法。实验以某卫星导航试验系统长度为56 km、时间传递不确定度优于100 ps的光纤溯源链路实测钟差数据为例,验证了所提方法的可行性与有效性。

基于独立分量法的新疆GNSS时间序列共模误差分析

共模误差(CME)是区域连续全球卫星导航系统(GNSS)网中的主要误差来源之一.针对GNSS时间序列具有非高斯分布特征,基于二阶统计量的主成分分析(PCA)难以准确提取出CME分量问题,采用具有高阶统计量的独立分量分析(ICA)对CME进行提取.以2011—2018年新疆区域GNSS坐标时间序列为例,将PCA滤波效果进行对比验证,分析了CME对GNSS坐标时间序列的影响,并对CME序列进行周期分析.结果表明:前6个独立分量包含CME分量,这可能与卫星轨道、地表质量负荷和时钟误差有关,ICA滤波后东(N)、北(E)、天顶(U)三个方向的均方根(RMS)值分别降低31.83%、32.29%、35.49%,速度不确定度分别降低44.14%、38.49%、43.32%,各测站的周期项振幅较滤波前更一致,有效地剔除了CME,提高了坐标时间序列的精度.

改进BIC的GNSS站坐标时序有色噪声特性分析

为了有效解决传统的极大似然估计方法存在的未知数多导致结果不准确的问题,提出一种改进BIC的GNSS站坐标时序有色噪声特性分析方法:选取全球范围内100个基准站2008—2022年坐标时序及仿真的100组坐标时序,采用赤池信息准则(AIC)、贝叶斯信息准则(BIC)、改进的贝叶斯信息准则(BIC_tp)对不同有色噪声模型进行噪声特性分析,获取基准站坐标序列的最优噪声模型及速度参数;探讨BIC_tp对噪声模型及速度估计的影响。结果表明,基准站坐标序列噪声模型呈现出多样性特征,在北(N)和东(E)方向主要表现为闪烁噪声+白噪声(FNWN)模型,天顶(U)方向主要表现为幂律噪声+白噪声(PLWN)模型;相比于AIC和BIC噪声模型估计准则,BIC_tp方法对有色噪声模型估计具有较高的准确性,尤其是闪烁噪声+随机游走噪声(RW)+白噪声(FNRWWN)模型对全球卫星导航系统(GNSS)站速度不确定度的影响在N与E方向远大于U方向;正确获取模型参数估计的实际不确定度及改正噪声分量对于合理应用GNSS坐标时间序列数据具有重要意义。

远程火箭弹捷联射程修正研究

实现了姿态稳定后,抑制远程火箭的纵向散布上升为提高其射击效能的主要问题.通过数值仿真的方法,研究了采用捷联惯导技术后远程火箭射程修正效果.计算结果表明,捷联惯导的引入使射程修正效果大幅度改善,且采用二次修正模型比线性模型具有更高的方法精度.通过捷联惯导仪器误差的分析,发现二次模型对捷联惯导导航参数误差更为敏感,考虑惯导仪器误差后,线性模型的修正效果要优于二次模型.射程修正系统的方法误差随着导航时间的增加而减小,但由于导航参数误差有随着导航时间增加的趋势,惯导系统工作时间要综合考虑以上两方面因素后确定.

陀螺RRW在惯导系统中的误差传播特性

角速率随机游走是高精度光纤陀螺的一项主要随机误差源,对惯性导航系统的误差有着较大影响。分析了角速率随机游走的统计特性,推导了角速率随机游走引起的惯性导航系统姿态、位置误差的解析表达式,研究了静基座环境下的惯性导航系统在长时间导航环境下的随机误差传播规律,对角速率随机游走作用下的惯性导航系统误差进行了仿真与实验,验证了所推导公式的正确性,对惯性导航系统的设计与误差分析具有一定的参考意义。

BEACON SYNCHRONIZATION TECHNOLOGY FOR “BEIDOU” TERRESTRIAL IMPROVEMENT SYSTEM

Synchronization is an essential technology in the radio navigation system. The technique for improving the “Beidou” positioning ability is presented through constituting the terrestrial improvement system, and the beacon synchronization of the improvement system with the “Beidou” one-way time transfer model is realized.The direct digital synthesis (DDS) is adopted to generate the pseudo-random code clock having high precision and stability. Meanwhile, the CPLD device is used to design the synchronization pulse picking-up module, the spread spectrum PN code generator and the spread spectrum modulator. Measurement results indicate that the beacon synchronization has the high precision and the stability.

三种GNSS高程时序降噪方法的效果对比分析

为了探究经验模态分解(EMD)、整体经验模态分解(EEMD)和小波降噪三种方法的降噪性能,以中国区6个国际GNSS服务(IGS)站高程分量的5 a、10 a和20 a时序数据为例,对它们的降噪结果进行比较分析.首先利用线性拟合分离趋势项,并采用3σ准则剔除异常值,得到满足符合降噪要求的样本序列;然后分别用这三种方法分离样本序列中的噪声,得到降噪后的序列;最后以信噪比(SNR)、相关系数、均方根误差(RMSE)为评价指标比较分析它们的降噪性能.实验结果表明:1)当坐标时间序列质量较差时,EEMD和小波降噪可以很好的分离噪声;2)对于5 a和10 a时序数据,小波降噪的效果最好;对于20 a时序数据,EEMD和小波降噪效果接近,优于EMD;3)小波降噪抑制有色噪声的能力最佳.

基于EMD的改进型3δ粗差探测方法

针对全球卫星导航系统(GNSS)时间序列粗差多、分布随机的问题,提出一种基于经验模态分解(EMD)的改进型3δ粗差探测方法。新方法基本思想是:先利用3δ准则初步探测全球导航卫星系统(GNSS)时间序列粗差并插补,再将GNSS时间序列分解为若干时间尺度的固有模态函数(IMF)分量,再利用相关系数法信噪分离,最后利用3δ准则对残差序列进行粗差探测。利用模拟数据和实际工程数据对比EMD-3δ方法相对于常规LS(Least Squares)-3δ法的粗差探测效果。模拟实验数据表明,EMD-3δ法能够探测92.7%的粗差,LS-3δ方法仅能探测48.3%的粗差。来自斯克里普斯轨道和永久阵列中心(SOPAC)的GNSS时间序列数据进一步表明EMD-3δ能较传统方法更有效地探测粗差。

Smoothing GNSS Time Series with Asymmetric Simple Moving Averages

There is an increasing trend to apply GNSS continuous observation of short baselines to the monitoring of engineering works, such as bridges and dams, for their structural analysis and safety control. In the case of large dams, one important application of the GNSS continuous observation is thc establishment of early warning systems that demand accurate, frequently updated information and where the analysis of the baseline time series, in order to separate signal from noise is mandatory. The paper presents a study on the performance of linear filters of the asymmetric moving average type to smooth baseline time series. The transfer function of the filter is adopted as a smoothing criterion to choose an adequate order for the moving average, in face of the spectral density function of the baseline time series. Onc series of measurements of a short test baseline （325 m）, materialized in the campus of the National Laboratory for Civil Engineering, is used as an example of the proposed strategy.

北斗实时卫星共视时间传递技术及其性能评估

全球导航卫星系统(Global Navigation Satellite System,GNSS)时间传递技术以其低成本、高精度、广覆盖范围等特点,广泛应用到高精度时频领域。传统卫星共视技术利用全球卫星导航时间比对标准(Common GNSS Generic Time Transfer Standard,CGGTTS)共视文件实现事后高精度时间传递,很难实现实时时间传递。为满足数字换流站、电力物联网、移动通信等对实时、高精度时间传递的需求,研究了基于北斗三号全球卫星导航定位系统(BDS-3)伪距观测数据的实时卫星共视技术,开展了短基线和西安-三亚长基线北斗实时卫星共视时间传递实验来评估实时共视时间传递性能。实验结果表明北斗实时卫星共视时间传递精度优于1 ns,可为时频系统、数字换流站等应用领域提供纳秒级时间同步和纳秒级时间溯源服务。

面向非广域目标的无人机对峙跟踪方法

针对无人机对峙跟踪非广域目标问题,开展目标状态估计与无人机制导方法研究。首先建立非广域地理环境模型,将非广域地理约束作为伪观测方程引入粒子滤波器的观测方程。其次,鉴于目标在运动过程中可能受到多个模型的约束,采用交互多模型滤波算法进行状态估计,即每个模型对应的受约束粒子滤波器并行工作,并对多个滤波器估计结果进行加权,得到更精确的目标运动状态估计值。然后,提出时间最优导航向量场,通过计算期望航向角,引导无人机快速收敛至目标极限环。最后,仿真实验表明,受约束粒子滤波-多交互模型算法相比于传统的滤波算法,估计精度提高了20%,时间最优导航向量场方法相比于传统的导航向量场方法,引导效率提高了15%,所提方法可更有效地用于解决非广域目标对峙跟踪问题。

Characterization of multi-GNSS between-receiver differential code biases using zero and short baselines

Care should be taken to minimize adverse impact of receiver differential code biases(DCBs) on global navigation satellite system(GNSS)-derived ionospheric parameters. It is therefore of importance to ascertain the intrinsic characteristics of receiver DCBs,preferably in the context of new-generation GNSS. In this contribution, we present a method that enables time-wise retrieval of between-receiver DCBs(BR-DCBs) from dualfrequency, code-only measurements collected by a pair of co-located receivers. This method is applicable to the US GPS as well as to a new set of GNSS constellations including the Chinese Bei Dou, the European Galileo and the Japanese QZSS. With the use of this method, we determine the multi-GNSS BR-DCB time-wise estimates covering a time period of up to 2 years(January 2013–March 2015) with a 30-s time resolution for five receiverpairs(four zero and one short baselines). For the BR-DCB time-wise estimates pertaining to an arbitrary receiver-pair and constellation, we demonstrate their promising intraday stability by means of statistical hypothesis testing. We also find that the Bei Dou BR-DCB daily weighted average(DWA) estimates show a dependence on satellite type, in particular for receiver-pairs of mixed types. Finally, we demonstrate that long-term variability in BR-DCB DWA estimates can be closely associated with hardware temperature variations inside the receivers.

Orbit determination and time synchronization for a GEO/IGSO satellite navigation constellation with regional tracking network

Aiming at regional services,the space segment of COMPASS (Phase I) satellite navigation system is a constellation of Geostationary Earth Orbit (GEO),Inclined Geostationary Earth Orbit (IGSO) and Medium Earth Orbit (MEO) satellites.Precise orbit determination (POD) for the satellites is limited by the geographic distribution of regional tracking stations.Independent time synchronization (TS) system is developed to supplement the regional tracking network,and satellite clock errors and orbit data may be obtained by simultaneously processing both tracking data and TS data.Consequently,inconsistency between tracking system and TS system caused by remaining instrumental errors not calibrated may decrease navigation accuracy.On the other hand,POD for the mixed constellation of GEO/IGSO/MEO with the regional tracking network leads to parameter estimations that are highly correlated.Notorious example of correlation is found between GEO's orbital elements and its clock errors.We estimate orbital elements and clock errors for a 3GEO+2IGSO constellation in this study using a multi-satellite precise orbit determination (MPOD) strategy,with which clock error elimination algorithm is applied to separate orbital and clock estimates to improve numerical efficiency.Satellite Laser Ranging (SLR) data are used to evaluate User Ranging Error (URE),which is the orbital error projected on a receiver's line-of-sight direction.Two-way radio-wave time transfer measurements are used to evaluate clock errors.Experimenting with data from the regional tracking network,we conclude that the fitting of code data is better than 1 m in terms of Root-Mean-Square (RMS),and fitting of carrier phase is better than 1 cm.For orbital evaluation,difference between computed receiver-satellite ranging based on estimated orbits and SLR measurements is better than 1 m (RMS).For clock estimates evaluation,2-hour linear-fitting shows that the satellite clock rates are about 1.E-10 s/s,while receiver clock rates are about 1×10 13-1×10 12 s/s.For the 72-hour POD experiment,the average differences between POD satellite clock rates estimates and clock measurements based on TS system are about 1×10 13 s/s,and for receiver clock rates,the differences are about 1×10 15 s/s.

The method and experiment analysis of two-way common-view satellite time transfer for compass system

Time synchronization between ground and satellites is a key technology for satellite navigation system. With dual-channel satellite, a method called Two-Way Common-View(TWCV) satellite time transfer for Compass system is proposed, which combines both characteristics of satellite common-view and two-way satellite-ground time transfer. By satellite-ground two-way pseudo-range differencing and two stations common-view differencing, this TWCV method can completely eliminate the influence of common errors, such as satellite clock offset, ephemeris errors, troposphere delay and station coordinates errors. At the same time, ionosphere delay related to signal frequency is also weakened significantly. So the precision of time transfer is improved much more greatly than before. In this paper, the basic principle is introduced in detail, the effect of major errors is analyzed and the practical calculation model in the Earth-fixed coordinate system for this new method is provided. Finally, experiment analysis is conducted with actual Compass observing data. The results show that the deviation and the stability of the satellite dual channel can be better than 0.1 ns, and the accuracy of the two-way common-view satellite time transfer can achieve 0.4 ns. All these results have verified the correctness of this TWCV method and model. In addition, we compare this TWCV satellite time transfer with the independent C-band TWSTFT(Two-Way Satellite Time and Frequency Transfer). It shows that the result of the TWCV satellite time transfer is in accordance with the C-band TWSTFT result, which further suggests that the TWCV method is a remote high precision time transfer technique. The research results in this paper are very important references for the development and application of Compass satellite navigation system.

基于MATLAB-GUI的GNSS基准站网坐标序列数据处理软件

基于MATLAB及图形用户界面(graphical user interface,GUI)平台,开发了全球导航卫星系统(global navigation satellite system,GNSS)基准站网坐标序列数据处理软件,并用苏州CORS(continuously operating reference stations)网实测数据验证软件的可行性。软件的主要功能模块包括输入输出模块、图形用户界面控制模块、数据预处理模块、时频分析模块和实用工具模块,各模块之间相互独立又包含联系。软件界面良好,操作方便,功能丰富,为GNSS基准站坐标序列的数据处理和信号提取提供了强有力的工具。

Applications of two-way satellite time and frequency transfer in the BeiDou navigation satellite system

A two-way satellite time and frequency transfer(TWSTFT) device equipped in the BeiDou navigation satellite system(BDS)can calculate clock error between satellite and ground master clock. TWSTFT is a real-time method with high accuracy because most system errors such as orbital error, station position error, and tropospheric and ionospheric delay error can be eliminated by calculating the two-way pseudorange difference. Another method, the multi-satellite precision orbit determination(MPOD)method, can be applied to estimate satellite clock errors. By comparison with MPOD clock estimations, this paper discusses the applications of the BDS TWSTFT clock observations in satellite clock measurement, satellite clock prediction, navigation system time monitor, and satellite clock performance assessment in orbit. The results show that with TWSTFT clock observations, the accuracy of satellite clock prediction is higher than MPOD. Five continuous weeks of comparisons with three international GNSS Service(IGS) analysis centers(ACs) show that the reference time difference between BeiDou time(BDT) and golbal positoning system(GPS) time(GPST) realized IGS ACs is in the tens of nanoseconds. Applying the TWSTFT clock error observations may obtain more accurate satellite clock performance evaluation in the 104 s interval because the accuracy of the MPOD clock estimation is not sufficiently high. By comparing the BDS and GPS satellite clock performance, we found that the BDS clock stability at the 103 s interval is approximately 10.12, which is similar to the GPS IIR.

Multi-Objective Cooperative Salvo Attack Against Group Target

This paper proposes a solution for the problem of cooperative salvo attack of multiple cruise missiles against targets in a group. Synchronization of the arrival time of missiles to hit their common target, minimizing the time consumption of attack and maximizing the expected damage to group targets are taken into consideration simultaneously. These operational objectives result in a hierarchical mixed-variable optimization problem which includes two types of subproblems, namely the multi-objective missile-target assignment（MOMTA） problem at the upper level and the time-optimal coordinated path planning（TOCPP） problems at the lower level. In order to solve the challenging problem, a recently proposed coordinated path planning method is employed to solve the TOCPP problems to achieve the soonest salvo attack against each target. With the aim of finding a more competent solver for MOMTA, three state-of-the-art multi-objective optimization methods（MOMs）,namely NSGA-II, MOEA/D and DMOEA-εC, are adopted. Finally, a typical example is used to demonstrate the advantage of the proposed method. A simple rule-based method is also employed for comparison. Comparative results show that DMOEA-εC is the best choice among the three MOMs for solving the MOMTA problem. The combination of DMOEA-εC for MOMTA and the coordinated path planning method for TOCPP can generate obviously better salvo attack schemes than the rule-based method.

Time synchronization in communication networks based on the Beidou foundation enhancement system

Communication networks rely on time synchronization information generated by base station equipment(either the Global Navigation Satellite System receiver or rubidium atomic clock) to enable wireless networking and communications. Meanwhile, the time synchronization among base stations depends on the Network Time Protocol. With the development of mobile communication systems, the corresponding time synchronization accuracy has increased as well. In this case, the use of sparsely distributed-high-precision synchronization points to synchronize time for an entire network with high precision is a key problem and is the foundation of the enhanced network communication. The current receiver equipment for China's digital synchronous network typically includes dedicated multi-channel GPS receivers for communication; however, with the development of GPS by the USA, network security has been destabilized and reliability is low. Nonetheless, network time synchronization based on Beidou satellite navigation system timing devices is an inevitable development trend for China's digital communications network with the establishment of the independently developed BDS, especially the implementation and improvement of the Beidou foundation enhancement system.

Micro-Electro-Mechanical-Sensor Inertial Navigation System-Assisted Global Navigation Satellite System Receiver Acquisition Scheme and Performance Evaluation

When an aircraft moves under a low carrier-to-noise ratio （CNR） or at a high speed, increasing the sensitivity of global navigation satellite system （GNSS） receiver is a goal quite hard to achieve. A novel acquisition scheme assisted with micro-electro-mechanical-sensor （MEMS） inertial navigation system （INS） is presented to estimate the Doppler caused by user dynamics relative to each satellite ahead of time. Based on tightly coupled GNSS/INS estimation algorithm, MEMS INS Doppler error that can be achieved is first described. Then, by analyzing the mean acquisition time and signal detection probability, the MEMS INS-assisted acquisition capabilities in cold, warm and hot starts are quantitatively determined and compared with the standard GNSS acquisition capability. The simulations and comparisons have shown that： the acquisition time in cold start can be shortened by at least 23 s, the time in warm start can be shortened to i s and the acquisition capability is improved 95%, and the reaequisition time in hot start can be shortened by around 0.090 s and the capability can be enhanced 40%. The results demonstrate the validity of the novel method.

Navigation using binary pulsars

The issue of navigation using binary pulsars is investigated in this paper.We show how the effect of the binary motion is incorporated in the navigation measurement equation.Necessary reference systems and time scales are introduced and the transformation between different time scales is derived.Based mainly on Damour and Deruelle's binary model and the TEMPO2 software,the timing model resolving the time delay from emission to arrival is established with the solar system,interstellar and binary system delays included,which retains all the terms exceeding 1 ns.The navigation measurement equation is thus built and the parameters needed are listed.A comparison is made between Sheikh's measurement equation and that in this paper.It is found that it is not necessary to introduce a fictitious SSB arrival time as Sheikh does.Near-Earth navigation for the Keplerian orbit in the case of observing one pulsar is investigated.The uncertainties of the orbit parameters are derived using the least square fitting method,which reveals that observing one pulsar enables one to navigate near-Earth spacecraft.