CN113009519B - Software calibration method for RDSS system zero value - Google Patents

Abstract

The invention provides a software calibration method for RDSS system zero value, which only uses the existing RDSS system and monitoring station equipment to realize the calibration and correction of RDSS system zero value error in a software calibration mode, and can further improve the positioning, bidirectional timing and unidirectional time service precision of the RDSS system: the adaptability is strong, the calibration can be performed all the time, and the stable operation of the system is not affected; the principle is simple, and on the premise of ensuring that the zero value calibration of the receiver equipment of the monitoring station is accurate and the point position coordinates are accurate, the zero value error calibration accuracy of the system is high, and the service accuracy of the system can be further improved; the inclusion is strong, and the error tolerance and self-rightness are also provided for other system residual errors except the system zero value error; by experimental analysis and verification, the system zero value calibration method can improve the RDSS system zero value calibration precision, thereby improving the RDSS positioning, bidirectional timing and unidirectional time service precision.

Description

Software Calibration Method of Zero Value in RDSS System

technical field

The invention belongs to the technical field of satellite navigation positioning, timing and timing service, and in particular relates to a zero-value software calibration method of an RDSS system.

Background technique

The accuracy of RDSS system zero calibration directly affects the service performance of RDSS positioning, two-way timing, and one-way timing. The traditional RDSS system zero calibration adopts the method of hardware zero calibration, which needs to be performed when the equipment is not working. It is usually a one-time completion of calibration and input before system service. As an in-service system that provides continuous external services, it is impossible to cut off the signal and re-calibrate the system zero value.

The zero value of the RDSS system drifts slowly. The current zero value of the RDSS system has errors, which affect the accuracy of the system service to a certain extent. With the extension of the system running time and the gradual aging of the RDSS system equipment, the zero value problem leads to poor service accuracy. It is gradually obvious that the zero value of the RDSS system running on-line needs to be calibrated, but currently there is a lack of achievable means of online calibration of the system zero value.

Contents of the invention

The purpose of the present invention is to solve the technical problem that there is an error in the zero value of the RDSS operating system, and the adopted hardware zero value calibration method cannot recalibrate the system zero value without interrupting the system operation, and provide a software calibration of the RDSS system zero value The method can not only improve the calibration accuracy of the zero value of the system, but also not affect the stable operation of the system, and can further improve the service accuracy of the RDSS system positioning, two-way timing, and one-way timing.

The calibration method of the zero value of the RDSS system comprises the following steps:

Step 1, the pseudorange ρ corrected by the zero value calibration of the RDSS system, and then further completing the ionospheric delay correction, tropospheric delay correction, and earth rotation correction corrected pseudorange is defined as the pseudorange P;

Step 2. Take the inbound and outbound link C→S _o →U→S _i →C distance of the monitoring station positioning signal of the RDSS system as the calibration reference distance D; where C→S _o →U→S _i →C represents the ranging signal The link from the central station C to the outbound satellite S _o to the outbound user U, then forwarded by the user U to the inbound satellite S _i , and finally inbound by the central station C;

Step 3. Calculate the zero-value error of different inbound and outbound combinations of the RDSS system. The specific steps are as follows:

S301: define dP=P-D as the basic data for zero value calibration of the inbound and outbound combination of the RDSS system;

S302: Correcting the relative error δZ _equi of the inbound system zero value of different devices in the same beam; wherein, the device is a channel or a demodulation unit;

S303: On the basis of completing the relative error correction of the zero value of the inbound system of different devices of the same beam, further select a certain inbound reference beam, and compare the pseudo-range ρ _inband of the same beam outbound and different beams inbound with the pseudo-range ρ inband of the reference beam inbound The difference from ρ _inband0 is analyzed and processed, and the system zero value relative error δZ _inband of the same beam outbound and different beams inbound in the _RDSS system is calculated; Correction of the relative error of the system zero value for beam outbound and different beam inbound.

S304: correcting the relative error δZ _{outband of} the system zero value outbound by different beams of the same satellite;

S305: Calculate the combined zero value error ΔZ ₀ of the RDSS system inbound and outbound for different satellite reference beam outbound and reference beam reference equipment inbound:

S306: Calibration of zero value error ΔZ of inbound and outbound combination of RDSS system inbound and outbound for all beams outbound and inbound by different devices of different beams;

Step 4, calculate the outbound zero value error ΔZ of the RDSS system _outbound ;

Step 5. Combining the RDSS system inbound and outbound combined zero value error ΔZ calculated in step 3, and the RDSS system outbound zero value error ΔZ _outbound calculated in step 4, calculate the RDSS system inbound zero value error Z _inbound , specifically :

Z _inbound = ΔZ-ΔZ _outbound ;

Step 6. The RDSS system outbound zero value error ΔZ calculated in step 4 _{is outbound} , and the RDSS system inbound zero value error Z calculated in step 5 _{is inbound} , and used to correct the RDSS system outbound zero value and the RDSS system inbound zero value. Station zero value, you can complete the calibration for the zero value of the RDSS system:

ΔZ _{RDSS positioning} = ΔZ _outbound + ΔZ _inbound

ΔZ _{RDSS timing} = (ΔZ _outbound - ΔZ _inbound )/2;

ΔZ _{RDSS timing} = ΔZ _outbound .

Preferably, in S302, when the device is a channel:

Select a reference channel ch0, analyze and process the comparison result ρ _chN -ρ _ch0 between the inbound pseudorange ρ _chN of different channels chN of the same beam and the inbound pseudorange ρ _ch0 of the reference channel, and calculate the same beam of RDSS system The system zero value relative error δZ _ch inbound by different channels; the calculated result δZ _ch is further corrected to the ρ _chN of the corresponding channel to complete the correction of the system zero value relative error inbound by different channels of the same beam.

Preferably, in S302, when the device is a demodulation unit:

Select a reference channel c0, analyze and process the comparison result ρ _cN -ρ _c0 of the inbound pseudorange ρ _cN of different demodulation units cN of the same beam and the inbound pseudorange ρ _c0 of the reference channel, and calculate the RDSS system The relative error δZ _c of the system zero value inbound by different demodulation units of the same beam; the calculated result δZ _c is further corrected for the pseudorange of the corresponding demodulation unit inbound, and the relative error of the system zero value inbound by different demodulation units in the same beam is completed. error correction.

Preferably, in the above S304, the method of correcting the system zero value relative error δZ _outband of different beams of the same satellite outbound is: on the basis of completing the correction of the system zero value relative error of the same beam outbound, different beams and different equipment inbound systems , further select a certain outbound reference beam, firstly fit and model the outbound pseudorange ρ _outband of different beams of the same satellite, and the outbound pseudorange ρ _{outband0 of the reference beam respectively, and then calculate the outbound pseudorange ρ outband0} of different beams at the same time point Calculate the difference between the fitted pseudorange of the station and the fitted pseudorange of the reference beam outbound, and then analyze and process the difference corresponding to multiple time points to obtain the relative error of the zero value of the system outbound by different beams of the same satellite in the RDSS system δZ _outband .

Preferably, in the above S304, the method of correcting the system zero value relative error δZ _outband of different beams of the same satellite outbound is as follows:

First obtain the corrected pseudorange P of different beams of the same satellite outbound, and calculate the difference dP _outband between it and the calibration reference distance D; then calculate the distance between the corrected pseudorange P of the reference beam outbound and the calibration reference distance D For the difference dP _outband0 , analyze and process dP _outband and dP _outband0 respectively, and calculate the difference to obtain the system zero value relative error δZ _outband of the outbound beam of the same satellite in the RDSS system; use δZ _outband to further correct the outbound corresponding to different beams Pseudo-range, to complete the correction of the relative error of the system zero value of different beam outbound.

Preferably, in the above S304, the method of correcting the system zero value relative error δZ _outband of different beams of the same satellite outbound is as follows:

Using the one-way ranging value of the outbound link C→S _o →U of the positioning receiver of the monitoring station, select a certain outbound reference beam, and compare the outbound one-way ranging value of different beams of the same satellite with the outbound one-way distance of the reference beam. Compare, analyze and process the ranging value, calculate and calculate the system zero value relative error δZ _outband of different beams of the RDSS system outbound; where C→S _o →U means forwarding from the central station C to the outbound satellite S _o , and then Outbound link to user U.

Preferably, in said S305, on the basis of completing the system zero value relative error correction under the outbound links of different beams of the same satellite and the inbound links of different devices of the same satellite, the dP result at this time is calculated, and all satellites are traversed , get the dP results corresponding to each satellite; analyze and process the dP results corresponding to each satellite, and calculate the zero-value error of the RDSS system inbound and outbound combination of all satellite reference beam outbound and reference beam reference equipment inbound, this error is the chain The absolute error ΔZ ₀ of the zero value of the off-road system:

ΔZ ₀ =dP.

Preferably, in said S305, on the basis of completing the relative error correction of the system zero value inbound by different devices of the same beam, directly select the dP result corresponding to the outbound reference beam inbound link of the reference beam, traverse all satellites, and obtain The dP results corresponding to the reference beam outbound and reference beam inbound links corresponding to each satellite; analyze and process the dP results corresponding to each satellite, and calculate the RDSS system inbound and outbound of all satellite reference beam outbound and reference beam reference equipment inbound Combined zero value error ΔZ ₀ :

ΔZ ₀ =dP.

Preferably, in said S306, the calculation method of the RDSS system inbound and outbound combined zero value error ΔZ is:

ΔZ=ΔZ ₀ +δZ _equi +δZ _inband +δZ _outband .

Preferably, in said S306, the calculation method of the RDSS system inbound and outbound combined zero value error ΔZ is:

ΔZ _{outban out inband in} = dP _{outban out inband in} + δZ _equi .

Preferably, the specific method of step 4 is:

S401: Take the atomic clock time with Beidou system time synchronization as the reference T0, collect _{the two-way timing result T RDSS} timing of the timing and timing receiver of the monitoring station, and compare the time with the atomic clock time reference T0 with Beidou system time synchronization to find the difference dT _timing , As the calibration basic data of the system zero value error affecting the RDSS two-way timing service:

dT _timing = T _{RDSS timing} - T0;

S402: Analyze and process all the dT _timings to obtain a dT _timing value as the system zero value error ΔZ _{RDSS timing} affecting the RDSS two-way timing service:

ΔZ _{RDSS timing} = (ΔZ _outbound - ΔZ _inbound )/2;

S403: Combined with the RDSS system inbound and outbound combined zero value error ΔZ calculated in step 3, calculate the outbound zero value error ΔZ of the RDSS system _outbound :

ΔZ _outbound =(ΔZ+2ΔZ _{RDSS timing} )/2.

Preferably, the specific method of step 4 is:

S701: Take the atomic clock time with Beidou system time synchronization as the reference T0, collect the one-way timing result T _RDSS timing of the timing receiver of the monitoring station, compare the time with the atomic clock time reference T0 with Beidou system time synchronization, and calculate the RDSS single _{Timing to the timing error dT RDSS} ;

dT _{RDSS timing} = T _{RDSS timing} - T0;

S702: Analyze and process the dT _{RDSS timing} , and the obtained value is used as an estimated value for system outbound zero value error calibration, specifically:

ΔZ _outbound = dZ _{RDSS timing} .

Preferably, the analysis and processing are operations of filtering, averaging, fitting, modeling, graphical analysis or mean square error, and multiple values are processed into one value.

A positioning method for an RDSS system, using the RDSS system inbound and outbound combination zero value error δZ calculated in step 3, directly used to correct the pseudorange ρ after the RDSS system calibration zero value correction, to complete the system for the RDSS positioning service Inbound and outbound combined zero value error calibration.

The present invention has following beneficial effect:

A software calibration method for the zero value of the RDSS system of the present invention only utilizes the existing RDSS system and monitoring station equipment, and realizes calibration and correction of the zero value error of the RDSS system through software calibration, which can further improve the positioning of the RDSS system , Two-way timing, one-way timing service accuracy:

1. Strong adaptability, can be calibrated at any time and around the clock, without affecting the stable operation of the system;

2. The principle is simple. Under the premise of ensuring the accurate zero value calibration of the receiver equipment of the monitoring station and the accurate point coordinates, the system zero value error calibration accuracy is high, which can further improve the system service accuracy;

3. Strong inclusiveness, fault tolerance and self-consistency for other system residuals other than the system zero value error;

4. Through test analysis and verification, adopting the system zero value calibration method of the present invention can improve the RDSS system zero value calibration accuracy, and then improve the RDSS positioning, two-way timing, and one-way timing service accuracy;

5. The present invention overcomes the bottleneck that the zero value error of the RDSS online system cannot be re-calibrated without interruption, and has achieved breakthrough progress, and has application potential and economic benefits.

Description of drawings

Fig. 1 is the RDSS system zero value software calibration method flowchart of the present invention;

Figure 2 is a schematic diagram of RDSS system positioning;

Figure 3 is a schematic diagram of the one-way timing of the RDSS system.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and examples.

Only use the existing RDSS system and monitoring station equipment, and calibrate the zero value error of the RDSS system through the method of software calibration, which will not affect the stable operation of the system, and can improve the system service accuracy. Described monitoring station equipment, under the situation of calibration RDSS system inbound and outbound combination zero value, comprises: monitoring station RDSS positioning receiver. It can be used to correct the combined zero value error of RDSS system inbound and outbound, and improve the accuracy of RDSS positioning service. In the case of respectively calibrating the outbound zero value of the RDSS system and the inbound zero value of the RDSS system, it also includes: the RDSS timing and timing receiver of the monitoring station, and the atomic clock with time synchronization of the Beidou system.

RDSS positioning adopts four-way ranging, and the ranging signal is forwarded from the central station C-> outbound satellite S _o -> user U outbound, and then forwarded by user U -> inbound satellite S _i -> central station C inbound ( As shown in Figure 2), the accuracy of the four-range ranging determines the accuracy of the RDSS positioning service. The main factors affecting the accuracy of RDSS ranging include ionospheric delay, process delay, earth rotation effect, system zero value and user terminal equipment zero value, among which the user terminal equipment zero value is calibrated by the user terminal, and the system zero value Calibration is done by the ground central station. From the analysis of the RDSS positioning principle, the system zero value that affects the accuracy of RDSS positioning service includes the system outbound zero value Z outbound and the system inbound zero value Z _inbound . More specifically, the system zero value that affects the RDSS positioning service is:

Z _{RDSS positioning} = Z _outbound + Z _inbound (1)

RDSS two-way timing is based on (as shown in Figure 2) the four-way ranging C→S _o →U→S _i →C of the same satellite in and out of the station, and its timing principle is to calculate the outbound path delay C based on the pseudo-range of the four-way inbound and outbound →S _o →U, from the analysis of RDSS two-way timing principle, the system zero value that affects the accuracy of RDSS two-way timing service includes outbound zero value Z outbound and inbound zero value Z inbound, more specifically, affects the RDSS two-way timing service The system zero value for is:

Z _{RDSS timing} = (Z _outbound - Z _inbound )/2 (2)

The RDSS one-way timing service is based on the outbound path (as shown in Figure 3) C->S->U distance calculated by the central station, satellite, and user coordinate reference. On this basis, the timing path delay is estimated by means of delay correction . From the analysis of the RDSS one-way timing service principle, the system zero value that affects the accuracy of the RDSS one-way timing service only includes the system outbound zero value Z _outbound , that is, the system zero value that affects the RDSS one-way timing service is:

Z _{RDSS timing} = Z _outbound (3)

The present invention proposes a kind of RDSS system zero value software calibration method, comprises the following steps:

Step 1. Collect data related to RDSS positioning calculation of monitoring stations output by the RDSS system, including positioning service application time, response beam number, channel number, pseudorange ρ corrected by RDSS system calibration zero value, satellite ephemeris, ionospheric data, troposphere The data will be calibrated by the RDSS system to correct the pseudorange ρ with zero value, further complete the correction of the ionospheric delay DT _iono , the correction of the tropospheric delay DT _trop , and the correction of the earth’s rotation correction DT _earth , and calculate the corrected pseudorange P:

P=ρ-DT _iono -DT _trop -DT _earth ;

Step 2. On the premise that the coordinates of the positioning receiver of the monitoring station are known, calculate the inbound and outbound link of the positioning signal of the monitoring station through the antenna coordinates of the central station, the satellite ephemeris, and the coordinates of the positioning receiver of the monitoring station C→S _o →U→S _i →C distance, as the calibration reference distance D.

Step 3. Use P-D as the basic data for zero value calibration of RDSS system inbound and outbound combinations, and calculate the zero value error of different inbound and outbound combinations in the RDSS system. The specific steps are as follows:

S301: Compare and analyze the corrected pseudo-range P with the distance D of the inbound and outbound links of the RDSS system, and use it as the basic data for calibration of the zero value of the inbound and outbound combination of the RDSS system:

dP=P-D

S302: Correct the relative error of the zero value of the inbound system of different equipment in the same beam (because the beam may be inbound by different channels or different demodulation units, so the two are collectively referred to as equipment), the specific method is as follows:

If the same beam uses different channels to enter the station, select a certain reference channel ch0, _and compare the pseudo-range ρ _chN of different channels chN of the same beam with the pseudo-range ρ _ch0 of the reference channel ρ _ch0 , and perform Analyze, process, and calculate the system zero value relative error δZ _ch of the same beam and different channels inbound in the RDSS system; further correct the calculated result δZ _ch to the corresponding channel ρ _chN to complete the system zero value relative error of the same beam and different channels inbound correction. It should be noted that analysis and processing refers to filtering, averaging, fitting, modeling, graphical analysis or mean square error of multiple error values to obtain an error value.

If the same beam uses different demodulation units to enter the station, select a reference channel c0, and compare the pseudo-range ρ _cN of different demodulation units cN of the same beam with the pseudo-range ρ _c0 of the reference channel ρ _c0 - ρ _c0 , analyze and process, and calculate the relative error δZ _c of the system zero value of the same beam of the RDSS system when different demodulation units enter the station; further correct the calculated result δZ _c to the corresponding demodulation unit’s ρ _cN , and complete the same beam Correction of the relative error of the system zero value inbound by different demodulation units.

S303: On the basis of completing the relative error correction of the zero value of the inbound system of different devices of the same beam, further select a certain inbound reference beam, and compare the pseudo-range ρ _inband of the same beam outbound and different beams inbound with the pseudo-range ρ inband of the reference beam inbound The difference from ρ _inband0 is analyzed and processed, and the system zero value relative error δZ _inband of the same beam outbound and different beams inbound in the _RDSS system is calculated; Correction of the relative error of the system zero value for beam outbound and different beam inbound.

S304: Correct the relative error of the zero value of the system when different beams of the same satellite are outbound. There are two methods:

Method 1: On the basis of completing the relative error correction of the zero value of the inbound system of different equipment with different beams of the same beam, further select a certain outbound reference beam, because the pseudoranges of different beams of the same satellite are corresponding to different times (only one beam outbound in one time period), therefore, the present invention firstly fits and models the pseudorange ρ _outband of different beams outbound of the same satellite, and the pseudorange ρ _outband0 of the reference beam outbound respectively, and then Calculate the difference between the outbound fitting pseudorange of different beams and the outbound fitting pseudorange of the reference beam at the same time point, and then analyze and process the difference corresponding to multiple time points to obtain the different beams of the same satellite in the RDSS system Outbound system zero value relative error δZ _outband .

Or, firstly obtain the corrected pseudorange P of different outbound beams of the same satellite, and calculate the difference dP _outband between it and the calibration reference distance D; then calculate the corrected pseudorange P and the calibration reference distance D of the reference beam outbound The difference between dP _outband0 , dP _outband and dP _outband0 are analyzed and processed respectively, and the difference is calculated to obtain the relative error δZ _outband of the system zero value of the same satellite and different beam outbound of the RDSS system; use δZ _outband to further correct the outbound of different beams The corresponding pseudo-range ρ _outband completes the correction of the relative error of the system zero value of different beam outbound.

Method 2: Use the one-way ranging value of the outbound link C→S _o →U of the positioning receiver of the monitoring station, select a certain outbound reference beam, and compare the outbound one-way ranging value of different beams of the same satellite with the reference beam. The one-way ranging value of the station is compared, analyzed and processed, and the relative error δZ _{outband of} the system zero value of the outbound beam of different beams of the RDSS system is calculated.

S305: Calculate the combined zero value error ΔZ ₀ of the RDSS system inbound and outbound for different satellite reference beam outbound and reference beam reference equipment inbound:

Method 1: On the basis of completing the relative error correction of the zero value of the system under the outbound link of different beams of the same satellite and the inbound links of different devices of the same satellite, calculate the dP result at this time, traverse all satellites, and obtain the corresponding dP results; analyze and process the dP results corresponding to each satellite, and calculate the combined zero value error of the RDSS system inbound and outbound for all satellite reference beam outbound and reference beam reference equipment inbound. This error is the zero value of the system under the link The absolute error ΔZ ₀ of :

ΔZ ₀ =dP.

Method 2: On the basis of completing the system zero value relative error correction of the same beam and different equipment inbound, directly select the dP result corresponding to the outbound reference beam inbound link of the reference beam, traverse all satellites, and obtain the reference beam corresponding to each satellite The dP results corresponding to the inbound link of the outbound reference beam; analyze and process the dP results corresponding to each satellite, and calculate the zero value error of the RDSS system inbound and outbound combination of all satellite reference beam outbound and reference beam reference equipment inbound. The error is the absolute error ΔZ ₀ of the system zero value under this link:

ΔZ ₀ =dP;

S306: There are two ways to calibrate the zero-value error calibration of the RDSS system inbound and outbound combination of the inbound and outbound full link of each beam outbound, each beam, and different equipment inbound:

Method 1: According to the RDSS system inbound and outbound combination zero value error ΔZ ₀ of different satellite reference beam outbound and reference beam reference equipment inbound calculated in step 305, combined with the system zero value of different equipment inbound for the same beam calculated in step S302 Error δZ _chan or δZ _ch , relative error δZ _inband of the system zero value of the RDSS system with the same beam outbound and different beams inbound, δZ _{outband of} the system zero value of the RDSS system with the same satellite and different beams outbound, and calculating the outbound beams of each beam The inbound and outbound combined zero value error ΔZ of the RDSS system inbound and outbound full links of different equipment.

If the same beam uses different channel units inbound:

ΔZ＝ΔZ ₀ +δZ _chan +δZ _inband +δZ _outband ;

If the same beam uses different demodulation units to inbound:

ΔZ＝ΔZ ₀ +δZ _ch +δZ _inband +δZ _outband ;

Method 2: On the basis of the dP results of the system zero value relative error correction for different devices entering the same beam, select the dP results corresponding to the outbound links of each beam and the inbound links of each beam, analyze and process them, and calculate the output of each beam. The combined zero value error of the inbound and outbound RDSS system of each beam station and each beam, combined with the system zero value relative error of the same beam and different equipment inbound, further calibrates the RDSS system of each beam outbound, each beam and each different equipment inbound. Combined zero value error ΔZ _{outban out inband inbound and outbound} :

If the same beam uses different channel units inbound:

ΔZ _{outban out inband into} = dP _{outban out inband into} + δZ _chan ;

If the same beam uses different demodulation units to inbound:

ΔZ _{outban out inband} ＝dP _{outban outinband in} +δZ _ch

Step 4. Using the RDSS system inbound and outbound combined zero value error, combined with the RDSS bidirectional timing error results, calculate the outbound zero value error ΔZ _outbound of the RDSS system. The specific steps are as follows:

S401: Take the atomic clock time with Beidou system time synchronization as the reference T0, collect _{the two-way timing result T RDSS} timing of the timing and timing receiver of the monitoring station, and compare the time with the atomic clock time reference T0 with Beidou system time synchronization to find the difference dT _timing , As the calibration basic data of the system zero value error affecting the RDSS two-way timing service:

dT _timing = T _{RDSS timing} - T0

S402: Analyze and process the dT _timing , and calculate the system zero value error ΔZ _{RDSS timing} that affects the RDSS two-way timing service; this error is related to the difference between the outbound zero value of the RDSS system and the inbound zero value of the RDSS system, specifically:

ΔZ _{RDSS timing} = (ΔZ _outbound - ΔZ _inbound )/2;

Wherein, analyzing and processing refers to performing filtering, averaging, fitting, modeling, graph analysis or mean square error on multiple dT _timings to obtain a dT _timing value.

S403: Combined with the RDSS system inbound and outbound combined zero value error ΔZ calculated in step 3, calculate the outbound zero value error ΔZ of the RDSS system _outbound :

ΔZ _outbound =(ΔZ+2ΔZ _{RDSS timing} )/2;

Step 5. Combining the RDSS system inbound and outbound combined zero value error ΔZ calculated in step 3, and the RDSS system outbound zero value error ΔZ _outbound calculated in step 4, calculate the RDSS system inbound zero value error Z _inbound , specifically :

Z _inbound = ΔZ-ΔZ _outbound ;

Step 6. The RDSS system outbound zero value error ΔZ calculated in step 4 _{is outbound} , and the RDSS system inbound zero value error Z calculated in step 5 _{is inbound} , and used to correct the RDSS system outbound zero value and the RDSS system inbound zero value. The zero value of the station can complete the software calibration for the zero value of the RDSS system, thereby further improving the accuracy of RDSS positioning, timing, and timing services. details as follows:

ΔZ _{RDSS positioning} = ΔZ _outbound + ΔZ _inbound

ΔZ _{RDSS timing} = (ΔZ _outbound - ΔZ _inbound )/2;

ΔZ _{RDSS timing} = ΔZ _outbound ;

Step 7. Use the RDSS one-way timing results to calculate the RDSS system outbound zero error ΔZ _outbound , and further evaluate the correctness of the RDSS system outbound zero error ΔZ _outbound results calculated in step 4, as follows:

S701: Take the atomic clock time with Beidou system time synchronization as the reference T0, collect the one-way timing result T _RDSS timing of the timing receiver of the monitoring station, compare the time with the atomic clock time reference T0 with Beidou system time synchronization, and calculate the RDSS single _{Timing to the timing error dT RDSS} ;

dT _{RDSS timing} = T _{RDSS timing} - T0;

S702: Taking dT _{RDSS timing} as the calibration basic data, analyzing and processing dT _RDSS timing to estimate the system zero value error dZ _{RDSS timing that affects the one-way timing service of the RDSS system, as the estimated value of the system outbound zero value error calibration} , specifically:

ΔZ _outbound = dZ _{RDSS timing} ;

S703: Comparing the calculation result of S702 with the calculation result of step 4, the correctness of the calculated outbound zero value error result of the RDSS system can be further evaluated.

Wherein, step 7, using the RDSS one-way timing results to calculate the outbound zero error ΔZ _outbound of the RDSS system, can also replace step 4, as another method for calculating ΔZ _outbound .

Among them, in step 3, the calculated RDSS system inbound and outbound combination zero value error δZ can also be directly used to correct the RDSS system calibration zero value corrected pseudorange ρ, and the system inbound and outbound combination zero value for RDSS positioning service can be completed Error calibration, so as to further improve the accuracy of RDSS positioning services.

To sum up, the above are only preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (14)

1. The calibration method of the RDSS system zero value is characterized by comprising the following steps:

   step 1, defining pseudo-range P after calibrating zero value correction by an RDSS system, and further finishing ionosphere time delay correction, troposphere time delay correction and earth rotation correction as pseudo-range P;

   step 2, outputting the positioning signal of RDSS system to the inbound link C-S _o →U→S _i The distance C is used as a calibration reference distance D; wherein C.fwdarw.S _o →U→S _i C represents ranging signals from the central station C to the outbound satellite S _o To the user U, and from the user U to the inbound satellite S _i Forwarding, and finally, inbound links from the central station C;

   step 3, calculating different access combination zero value errors of the RDSS system, wherein the specific steps are as follows:

   s301: defining dp=p-D as RDSS system outbound combined zero value calibration base data;

   s302: correcting zero relative error delta Z of inbound systems of different devices of the same wave beam _equi The method comprises the steps of carrying out a first treatment on the surface of the Wherein the device is a channel or demodulation unit;

   s303: on the basis of finishing zero relative error correction of the inbound systems of different devices of the same beam, a certain inbound reference beam is further selected, and the pseudo range rho of the same beam in the inbound of different beams is obtained _inband Pseudo-range p with reference beam inbound _inband0 Analyzing and processing the difference value of the (B) and calculating the system zero value relative error delta Z of the same beam outlet and different beam inlets of the RDSS system _inband The method comprises the steps of carrying out a first treatment on the surface of the Further correcting the calculated result to obtain pseudo range rho of the corresponding beam station _inband Finishing correction of system null relative errors of the same beam outbound and different beam inbound;

   s304: correcting system zero value relative error delta Z of different wave beam outbound of same satellite _outband ；

   S305: calculating the RDSS system outbound combined null error delta Z of different satellite reference beam outbound and reference beam reference equipment inbound ₀ ：

   S306: calibrating the RDSS system access combination zero value error delta Z of each beam outbound and each different equipment inbound full link;

   step 4, calculating the outbound zero value error delta Z of the RDSS system _{Outbound station} ；

   Step 5, combining the RDSS system outbound combined zero value error delta Z calculated in step 3 and the RDSS system outbound zero value error delta Z calculated in step 4 _{Outbound station} Calculating inbound zero value error Z of RDSS system _{Inbound station} The method specifically comprises the following steps:

   Z _{inbound station} ＝ΔZ-ΔZ _{Outbound station} ；

   Step 6, the RDSS system outbound zero value error delta Z calculated in the step 4 is calculated _{Outbound station} And the RDSS system inbound zero value error Z calculated in step 5 _{Inbound station} The calibration of RDSS system zeros may be accomplished by modifying RDSS system outbound zeros and RDSS system inbound zeros:

   systematic zero-valued errors affecting RDSS location services:

   ΔZ _{RDSS positioning} ＝ΔZ _{Outbound station} +ΔZ _{Inbound station} ；

   Systematic zero-valued errors affecting RDSS bidirectional timing services:

   ΔZ _{RDSS timing} ＝(ΔZ _{Outbound station} -ΔZ _{Inbound station} )/2；

   Systematic zero-value errors affecting RDSS unidirectional time service:

   ΔZ _{RDSS time service} ＝ΔZ _{Outbound station} 。
2. 2. The method for calibrating a value of a RDSS system as recited in claim 1, wherein in S302, when said device is a channel:

   selecting a certain reference channel ch0, and taking pseudo-range rho of the same wave beam and different channels chN for station _chN Pseudo-range p with reference channel inbound _ch0 Is compared with the result ρ of the comparison _chN -ρ _ch0 Analyzing, processing, and calculating RDSS systemSystematic null relative error δz for unifying different channel inbound of the same beam _ch The method comprises the steps of carrying out a first treatment on the surface of the The calculated result delta Z _ch Further correcting p of corresponding channel _chN And finishing correction of the systematic zero value relative error of the same beam and different channel inbound.
3. 3. The method for calibrating a zero value of an RDSS system as claimed in claim 1, wherein in S302, when the device is a demodulation unit:

   selecting a reference demodulation unit c0, and determining pseudo-range ρ of the same wave beam and different demodulation units cN _cN Pseudo-range ρ inbound to reference demodulation unit _c0 Is compared with the result ρ of the comparison _cN -ρ _c0 Analyzing and processing, and calculating the system zero value relative error delta Z of the same beam and different demodulation units of the RDSS system _c The method comprises the steps of carrying out a first treatment on the surface of the The calculated result delta Z _c And further correcting the pseudo range of the station corresponding to the demodulation unit, and finishing the correction of the system null value relative error of the station of the different demodulation units of the same wave beam.
4. 4. The method for calibrating a null value in an RDSS system according to claim 1, wherein in S304, the systematic null relative errors δZ of different beam-exits of the same satellite are corrected _outband The method of (1) is as follows:

   on the basis of finishing zero relative error correction of different equipment inbound systems of different beams of the same beam outbound, a certain outbound reference beam is further selected, and pseudo-range rho of different beams of the same satellite outbound is firstly obtained _outband Pseudo range ρ of reference beam outbound _outband0 Fitting and modeling respectively, calculating the difference between the fitted pseudo-ranges of different beam outbound stations at the same time point and the fitted pseudo-ranges of the reference beam outbound stations, and analyzing and processing the difference values corresponding to a plurality of time points to obtain the system zero value relative error delta Z of different beam outbound stations of the same satellite of the RDSS system _outband 。
5. 5. The method for calibrating a zero value of an RDSS system according to claim 1, wherein in S304, the same sanitation is modifiedSystem null relative error delta Z of satellite different wave beam outbound _outband The method of (1) is as follows:

   firstly, corrected pseudo-ranges P of different wave beam outbound stations of the same satellite are obtained, and a difference dP between the corrected pseudo-ranges P and a calibration reference distance D is calculated _outband The method comprises the steps of carrying out a first treatment on the surface of the Then calculates the difference dP between the corrected pseudo-range P of the reference beam outbound and the calibrated reference range D _outband0 Will dP _outband And dP _outband0 Respectively analyzing and processing, and calculating the difference value to obtain the system zero value relative error delta Z of the same satellite and different beam outbound stations of the RDSS system _outband The method comprises the steps of carrying out a first treatment on the surface of the By delta Z _outband And further correcting pseudo-ranges corresponding to different beam-out stations to finish the correction of the system null value relative errors of the different beam-out stations.
6. 6. The method for calibrating a null value in an RDSS system according to claim 1, wherein in S304, the systematic null relative errors δZ of different beam-exits of the same satellite are corrected _outband The method of (1) is as follows:

   using outbound links C.fwdarw.S _o The U one-way ranging value is selected, one-way ranging values of different beam outbound of the same satellite are compared with the one-way ranging values of the reference beam outbound, analysis processing is carried out, and the system zero value relative error delta Z of different beam outbound of the RDSS system is calculated and calculated _outband The method comprises the steps of carrying out a first treatment on the surface of the Wherein C.fwdarw.S _o U represents the distance from the central station C to the outbound satellite S _o And forwarded and then to the outbound link of user U.
7. 7. The method for calibrating a zero value of an RDSS system according to claim 1, wherein in S305, based on completing the correction of the system zero value relative error under the inbound links of different beams of the same satellite and different devices of different beams of the same satellite, calculating the dP result at that time, traversing all satellites to obtain the dP result corresponding to each satellite; analyzing and processing dP results corresponding to all satellites, and calculating the RDSS system outbound-inbound combined zero-value error of all satellite reference beam outbound and reference beam reference equipment inbound, wherein the error is the absolute error of the system zero value under the linkDifference DeltaZ ₀ ：

   ΔZ ₀ ＝dP。
8. 8. The method for calibrating the RDSS system null value according to claim 1, wherein in S305, on the basis of completing the systematic null value relative error correction of the inbound of the same beam and different devices, the dP result corresponding to the inbound link of the reference beam outbound reference beam is directly selected, and all satellites are traversed to obtain the dP result corresponding to the inbound link of the reference beam outbound reference beam corresponding to each satellite; analyzing and processing dP results corresponding to all satellites, and calculating the RDSS system outbound-inbound combined zero-value error delta Z of all satellite reference beam outbound and reference beam reference equipment inbound ₀ ：

   ΔZ ₀ ＝dP。
9. 9. The method for calibrating a zero value of an RDSS system according to claim 1, wherein in S306, the method for calculating the error Δz of the RDSS system access combination zero value is as follows:

   ΔZ＝ΔZ ₀ +δZ _equi +δZ _inband +δZ _outband 。
10. 10. the method for calibrating a zero value of an RDSS system according to claim 1, wherein in S306, the method for calculating the error Δz of the RDSS system access combination zero value is as follows: on the basis of finishing the dP result of system zero value relative error correction of different equipment in the same beam, respectively selecting the dP result corresponding to each beam inbound link of each beam outbound, analyzing and processing, calculating the RDSS system inbound and outbound combined zero value error of each beam outbound and each beam inbound, and further calibrating the RDSS system inbound and outbound combined zero value error delta Z of each beam inbound and each different equipment inbound all link of each beam outbound by combining the system zero value relative error of different equipment in the same beam inbound.
11. 11. The method for calibrating a zero value of an RDSS system according to claim 1, wherein the specific method of step 4 is as follows:

    s401: taking atomic clock time with Beidou system time synchronization as a reference T0, and collecting a bidirectional timing result T of a timing and timing receiver of a monitoring station _{RDSS timing} Performing time comparison and difference dT with atomic clock time reference T0 with Beidou system time synchronization _{Timing of} As calibration base data for systematic zero-value errors affecting RDSS bidirectional timing services:

    dT _{timing of} ＝T _{RDSS timing} -T0；

    S402: for all dT _{Timing of} Analyzing and processing to obtain a dT _{Timing of} Value as systematic zero value error ΔZ affecting RDSS bi-directional timing service _{RDSS timing} ：

    ΔZ _{RDSS timing} ＝(ΔZ _{Outbound station} -ΔZ _{Inbound station} )/2；

    S403, combining the RDSS system outbound combined zero value error delta Z calculated in the step 3, and calculating the RDSS system outbound zero value error delta Z _{Outbound station} ：

    ΔZ _{Outbound station} ＝(ΔZ+2ΔZ _{RDSS timing} )/2。
12. 12. The method for calibrating a zero value of an RDSS system according to claim 1, wherein the specific method of step 4 is as follows:

    s701: taking atomic clock time with Beidou system time synchronization as a reference T0, and collecting a unidirectional time service result T of a timing time service receiver of a monitoring station _{RDSS time service} Comparing the time with an atomic clock time reference T0 with Beidou system time synchronization, and calculating RDSS unidirectional time service error dT _{RDSS time service} ；

    dT _{RDSS time service} ＝T _{RDSS time service} -T0；

    S702: para dT _{RDSS time service} Analyzing and processing, wherein the obtained value is used as an estimated value of system outbound zero value error calibration, and specifically comprises the following steps:

    ΔZ _{outbound station} ＝dT _{RDSS time service} 。
13. 13. A method of calibrating a RDSS system zero as claimed in any one of claims 1 to 12, wherein said analysis, processing is filtering, averaging, fitting, modeling, graphical analysis or mean square error operations, processing a plurality of values into one value.
14. 14. A positioning method based on the RDSS system zero calibration method of claim 1 is characterized in that the RDSS system output and inbound combined zero error delta Z calculated in the step 3 is directly used for correcting the RDSS system calibration and zero corrected pseudo range rho, and the system output and inbound combined zero error calibration aiming at RDSS positioning service can be completed.

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