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CN113703017B - Method and device for calculating satellite antenna phase center deviation - Google Patents

Method and device for calculating satellite antenna phase center deviation Download PDF

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CN113703017B
CN113703017B CN202010442999.0A CN202010442999A CN113703017B CN 113703017 B CN113703017 B CN 113703017B CN 202010442999 A CN202010442999 A CN 202010442999A CN 113703017 B CN113703017 B CN 113703017B
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pco
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CN113703017A (en
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肖国锐
曾添
隋立芬
贾小林
冯来平
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Information Engineering University Of Chinese People's Liberation Army Cyberspace Force
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract

本发明涉及一种卫星天线相位中心偏差计算方法及装置，属于天线测量和卫星定位导航技术领域。方法包括：获取各测站的历史观测量；以GNSS的基本观测方程为基础，建立非组合PCO估计模型，非组合PCO估计模型包括各频点的伪距方程和载波相位方程；各频点包括第一频点、第二频点和第三频点；根据历史观测量、以及非组合PCO估计模型得到第三频点的PCO。本发明建立的非组合PCO估计模型包括各频点的伪距方程和载波相位方程，因此通过该模型可以对第三频点的PCO进行单独计算，得到准确的第三频点的PCO，不仅可以提升精密轨道和钟差确定的精度，还可以应用于求解地球参考框架尺度参数、精化卫星光压模型、研究电离层延迟的二阶项影响等，实现高精度定位。

Figure 202010442999

The invention relates to a satellite antenna phase center deviation calculation method and device, and belongs to the technical fields of antenna measurement and satellite positioning and navigation. The method includes: obtaining the historical observations of each station; establishing a non-combined PCO estimation model based on the basic observation equation of GNSS. The non-combined PCO estimation model includes pseudorange equations and carrier phase equations of each frequency point; each frequency point includes The first frequency point, the second frequency point and the third frequency point; the PCO of the third frequency point is obtained according to the historical observations and the non-combined PCO estimation model. The non-combined PCO estimation model established by the present invention includes the pseudorange equation and the carrier phase equation of each frequency point, so the PCO of the third frequency point can be calculated separately through this model, and the accurate PCO of the third frequency point can be obtained, which can not only Improving the accuracy of precise orbit and clock error determination can also be applied to solve the scale parameters of the Earth's reference frame, refine the satellite light pressure model, and study the influence of the second-order item of ionospheric delay, etc., to achieve high-precision positioning.

Figure 202010442999

Description

一种卫星天线相位中心偏差计算方法及装置A satellite antenna phase center deviation calculation method and device

技术领域Technical Field

本发明涉及一种卫星天线相位中心偏差计算方法及装置，属于天线测量和卫星定位导航技术领域。The invention relates to a method and a device for calculating a satellite antenna phase center deviation, belonging to the technical field of antenna measurement and satellite positioning and navigation.

背景技术Background Art

导航卫星天线完成信号发射功能，而信号辐射源中心与卫星质心并不一致，因此会产生天线相位中心偏差，即PCO，在卫星朝不同天底角和方位角辐射信号时，会产生微小的卫星相位变化，即PCV。不精确的PCO和PCV将会对GNSS的精密定位、定轨、姿态、光压以致地球参考框架的参数带来显著影响，也正由于这些原因，通常卫星和接收机的PCO需要利用多年的观测数据综合估计得到一个相对准确的数值，且该数值由于变化幅度很小，通常稳定为一个常量，便于GNSS的各种应用。由于当卫星入轨后周围环境变化等因素，地面校准值可能不是该颗卫星的准确数值了。因此，通常新发射的卫星入轨运行一段时间以后，需要对其PCO进行在轨标定。The navigation satellite antenna completes the signal transmission function, but the center of the signal radiation source is not consistent with the satellite's center of mass, so the antenna phase center deviation, namely PCO, will occur. When the satellite radiates signals at different nadir angles and azimuth angles, a small satellite phase change, namely PCV, will occur. Inaccurate PCO and PCV will have a significant impact on the precise positioning, orbit determination, attitude, optical pressure and even the parameters of the earth reference frame of GNSS. For these reasons, the PCO of the satellite and the receiver usually needs to be estimated by comprehensive observation data for many years to obtain a relatively accurate value, and this value is usually stable as a constant due to its small change range, which is convenient for various GNSS applications. Due to factors such as changes in the surrounding environment after the satellite enters orbit, the ground calibration value may not be the accurate value of the satellite. Therefore, it is usually necessary to calibrate the PCO of a newly launched satellite on-orbit after it has been in orbit for a period of time.

现有技术中一般使用基于双频消电离层组合的观测模型进行卫星精密定轨，而且通过该方法得到的当前天线相位中心的估计是双频信号(即IF策略)的结果。然而目前美国的GPS，欧盟的Galileo和中国的北斗卫星导航系统(BDS)都支持三个及以上频率的观测值，也即GPS有12颗卫星能够发射三个频点的信号，BDS、Galileo已经能够发射全星座三频点以上信号。相对于传统GNSS的双频观测值，GNSS的第三个频率观测值具有重要意义。第三个频率的观测值具有更小的噪声、更好的抗多路径性能，另外在复杂环境中，数据丢失的情况十分普遍，假如常规双频观测值丢失，此时第三个频率能够辅助组合消去电离层误差，能够显著提高定位性能，多个频率的观测值能够大大提高数据可用率，保证解算的连续性和结果的可用性。In the prior art, an observation model based on a dual-frequency ionosphere elimination combination is generally used for precise satellite orbit determination, and the estimation of the current antenna phase center obtained by this method is the result of a dual-frequency signal (i.e., IF strategy). However, the current GPS of the United States, the Galileo of the European Union, and the Beidou Satellite Navigation System (BDS) of China all support observations of three or more frequencies, that is, GPS has 12 satellites that can transmit signals of three frequencies, and BDS and Galileo can already transmit signals of more than three frequencies of the entire constellation. Compared with the dual-frequency observations of traditional GNSS, the third frequency observations of GNSS are of great significance. The observations of the third frequency have less noise and better anti-multipath performance. In addition, in complex environments, data loss is very common. If the conventional dual-frequency observations are lost, the third frequency can assist in the combination to eliminate the ionospheric error, which can significantly improve the positioning performance. The observations of multiple frequencies can greatly improve the data availability, ensuring the continuity of the solution and the availability of the results.

因此在进行天线相位中心偏差进行标定时需要对第三个的频点进行单独标定，但是基于双频消电离层组合的观测模型无法估计单个频点的PCO，为此，第三个频点的PCO一般都是假设与临近的频点的PCO一致，例如：GPS的L5频点假定与L2频点一致，北斗二代的B3频点假定与B2频点一致，基于该假设，第三频点的贡献会受到该误差项的影响，因此需要提出一种对第三频点的PCO进行估计的技术方案。Therefore, when calibrating the antenna phase center deviation, the third frequency point needs to be calibrated separately. However, the observation model based on the dual-frequency ionospheric elimination combination cannot estimate the PCO of a single frequency point. For this reason, the PCO of the third frequency point is generally assumed to be consistent with the PCO of the adjacent frequency point. For example: the L5 frequency point of GPS is assumed to be consistent with the L2 frequency point, and the B3 frequency point of Beidou-2 is assumed to be consistent with the B2 frequency point. Based on this assumption, the contribution of the third frequency point will be affected by the error term. Therefore, it is necessary to propose a technical solution for estimating the PCO of the third frequency point.

发明内容Summary of the invention

本申请的目的在于提供一种卫星天线相位中心偏差计算方法，为第三频点的PCO的计算提供一种行之有效的解决方案；同时还提出一种卫星天线相位中心偏差计算装置。The purpose of this application is to provide a method for calculating the phase center deviation of a satellite antenna, and to provide an effective solution for calculating the PCO of the third frequency point; at the same time, a device for calculating the phase center deviation of a satellite antenna is also proposed.

为实现上述目的，本申请提出了一种卫星天线相位中心偏差计算方法的技术方案，包括以下步骤：To achieve the above purpose, the present application proposes a technical solution for a satellite antenna phase center deviation calculation method, comprising the following steps:

1)获取各测站的历史观测量；1) Obtain historical observations of each station;

2)以GNSS的基本观测方程为基础，建立非组合PCO估计模型，所述非组合PCO估计模型包括各频点的伪距方程和载波相位方程；各频点包括第一频点、第二频点和第三频点；2) Based on the basic observation equation of GNSS, a non-combined PCO estimation model is established, wherein the non-combined PCO estimation model includes a pseudorange equation and a carrier phase equation of each frequency point; each frequency point includes a first frequency point, a second frequency point and a third frequency point;

3)根据历史观测量、以及非组合PCO估计模型得到第三频点的PCO。3) The PCO of the third frequency point is obtained based on the historical observations and the non-combined PCO estimation model.

另外，本申请还提出一种卫星天线相位中心偏差计算装置，包括处理器、存储器以及存储在所述存储器中并可在处理器上运行的计算机程序，所述处理器在执行所述计算机程序时实现上述的卫星天线相位中心偏差计算方法的技术方案。In addition, the present application also proposes a satellite antenna phase center deviation calculation device, including a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned technical solution of the satellite antenna phase center deviation calculation method when executing the computer program.

本发明的卫星天线相位中心偏差计算方法及装置的技术方案的有益效果是：本发明建立的非组合PCO估计模型包括各频点的伪距方程和载波相位方程，因此通过该模型可以对第三频点的PCO进行单独计算，得到准确的第三频点的PCO。准确的第三频点的PCO不仅可以提升精密轨道和钟差确定的精度，还可以应用于求解地球参考框架尺度参数、精化卫星光压模型、研究电离层延迟的二阶项影响等，实现高精度定位。高精度定位结果对于地壳形变、板块运动等地球科学的研究有着重要的意义。The beneficial effect of the technical solution of the satellite antenna phase center deviation calculation method and device of the present invention is that the non-combined PCO estimation model established by the present invention includes the pseudorange equations and carrier phase equations of each frequency point, so the PCO of the third frequency point can be calculated separately through the model to obtain the accurate PCO of the third frequency point. The accurate PCO of the third frequency point can not only improve the accuracy of precise orbit and clock error determination, but also can be used to solve the scale parameters of the earth reference frame, refine the satellite light pressure model, study the influence of the second-order term of ionospheric delay, etc., to achieve high-precision positioning. The high-precision positioning results are of great significance to the research of earth sciences such as crustal deformation and plate movement.

进一步的，上述卫星天线相位中心偏差计算方法及装置中，非组合PCO估计模型为：Furthermore, in the above satellite antenna phase center deviation calculation method and device, the non-combined PCO estimation model is:

Figure GDA0004201653360000021
Figure GDA0004201653360000021

其中，

Figure GDA0004201653360000022
为卫星s，测站r在第一频点的伪距；
Figure GDA0004201653360000023
为卫星s，测站r的视线向量；Φ(t0,t)s为卫星s从初始时刻t0到当前时刻t的状态转移矩阵；
Figure GDA0004201653360000024
表示卫星s的初始状态参数，包括位置、速度和力模型参数；xr为测站r的位置向量；
Figure GDA0004201653360000025
为卫星s，测站r的投影函数；Tr为测站r的对流层延迟；c为光速；
Figure GDA0004201653360000026
为参数重组后测站r的钟差；
Figure GDA0004201653360000027
为参数重组后卫星s的钟差；
Figure GDA0004201653360000028
为参数重组后第一频点的电离层延迟；γ1为第一频点的电离层延迟系数；ε1为第一频点伪距的测量误差；
Figure GDA0004201653360000029
为卫星s，测站r在第二频点的伪距；γ2为第二频点的电离层延迟系数；ε2为第二频点伪距的测量误差；
Figure GDA00042016533600000210
为卫星s，测站r在第三频点的伪距；es为卫星s在参考坐标系下的星固系坐标矢量；
Figure GDA00042016533600000211
为卫星s第三频点的PCO改正向量；γ3为第三频点的电离层延迟系数；ε3为第三频点伪距的测量误差；
Figure GDA0004201653360000031
为卫星s，测站r在第一频点的载波相位；
Figure GDA0004201653360000032
为卫星s，测站r在第二频点的载波相位；
Figure GDA0004201653360000033
为卫星s，测站r在第三频点的载波相位；Hr为测站r第三频点的偏差项；
Figure GDA0004201653360000034
为参数重组后卫星s第三频点的偏差项；
Figure GDA0004201653360000035
为参数重组后第一频点的模糊度参数；
Figure GDA0004201653360000036
为参数重组后第二频点的模糊度参数；
Figure GDA0004201653360000037
为参数重组后第三频点的模糊度参数。in,
Figure GDA0004201653360000022
is the pseudorange of satellite s and station r at the first frequency point;
Figure GDA0004201653360000023
is the line of sight vector between satellite s and station r; Φ(t 0 ,t) s is the state transfer matrix of satellite s from the initial time t 0 to the current time t;
Figure GDA0004201653360000024
represents the initial state parameters of satellite s, including position, velocity and force model parameters; x r is the position vector of station r;
Figure GDA0004201653360000025
is the projection function of satellite s and station r; Tr is the tropospheric delay of station r; c is the speed of light;
Figure GDA0004201653360000026
is the clock error of station r after parameter reorganization;
Figure GDA0004201653360000027
is the clock error of satellite s after parameter reorganization;
Figure GDA0004201653360000028
is the ionospheric delay of the first frequency point after parameter reorganization; γ 1 is the ionospheric delay coefficient of the first frequency point; ε 1 is the measurement error of the pseudorange of the first frequency point;
Figure GDA0004201653360000029
is the pseudorange of satellite s and station r at the second frequency point; γ 2 is the ionospheric delay coefficient of the second frequency point; ε 2 is the measurement error of the pseudorange at the second frequency point;
Figure GDA00042016533600000210
is the pseudorange of satellite s and station r at the third frequency point; es is the satellite-fixed system coordinate vector of satellite s in the reference coordinate system;
Figure GDA00042016533600000211
is the PCO correction vector of the third frequency point of satellite s; γ 3 is the ionospheric delay coefficient of the third frequency point; ε 3 is the measurement error of the pseudorange of the third frequency point;
Figure GDA0004201653360000031
is the carrier phase of satellite s and station r at the first frequency point;
Figure GDA0004201653360000032
is the carrier phase of satellite s and station r at the second frequency point;
Figure GDA0004201653360000033
is the carrier phase of satellite s and station r at the third frequency point; H r is the deviation term of the third frequency point of station r;
Figure GDA0004201653360000034
is the deviation term of the third frequency point of satellite s after parameter reorganization;
Figure GDA0004201653360000035
is the ambiguity parameter of the first frequency point after parameter reorganization;
Figure GDA0004201653360000036
is the ambiguity parameter of the second frequency point after parameter reorganization;
Figure GDA0004201653360000037
is the ambiguity parameter of the third frequency point after parameter reorganization.

进一步的，上述卫星天线相位中心偏差计算方法及装置中，非组合PCO估计模型中，测站r第三频点的偏差项Hr包括测站r在各频点的伪距时不变硬件延迟分量：Furthermore, in the above-mentioned satellite antenna phase center deviation calculation method and device, in the non-combined PCO estimation model, the deviation term Hr of the third frequency point of the measuring station r includes the pseudo-range time-invariant hardware delay component of the measuring station r at each frequency point:

Hr＝-(αBr,1+βBr,2)-γ3β(Br,1-Br,2)+Br,3；H r =-(αB r,1 +βB r,2 )-γ 3 β(B r,1 -B r,2 )+B r,3 ;

其中，Br,1为测站r在第一频点的伪距时不变硬件延迟分量；Br,2为测站r在第二频点的伪距时不变硬件延迟分量；Br,3为测站r在第三频点的伪距时不变硬件延迟分量；

Figure GDA0004201653360000038
Figure GDA0004201653360000039
f1为第一频点的频率，f2为第二频点的频率。Wherein, Br,1 is the pseudo-range time-invariant hardware delay component of the measuring station r at the first frequency point; Br,2 is the pseudo-range time-invariant hardware delay component of the measuring station r at the second frequency point; Br,3 is the pseudo-range time-invariant hardware delay component of the measuring station r at the third frequency point;
Figure GDA0004201653360000038
Figure GDA0004201653360000039
f1 is the frequency of the first frequency point, and f2 is the frequency of the second frequency point.

进一步的，上述卫星天线相位中心偏差计算方法及装置中，非组合PCO估计模型中，参数重组后卫星s第三频点的偏差项

Figure GDA00042016533600000310
包括卫星s在各频点的载波相位时变硬件延迟分量和伪距时不变硬件延迟分量：Furthermore, in the above satellite antenna phase center deviation calculation method and device, in the non-combined PCO estimation model, the deviation term of the third frequency point of satellite s after parameter reorganization is
Figure GDA00042016533600000310
Including the carrier phase time-varying hardware delay component and pseudo-range time-invariant hardware delay component of satellite s at each frequency point:

Figure GDA00042016533600000311
Figure GDA00042016533600000311

其中，

Figure GDA00042016533600000312
为卫星s在第一频点的伪距时不变硬件延迟分量；
Figure GDA00042016533600000313
为卫星s在第二频点的伪距时不变硬件延迟分量；
Figure GDA00042016533600000314
为卫星s在第三频点的伪距时不变硬件延迟分量；
Figure GDA00042016533600000315
为卫星s在第一频点的载波相位时变硬件延迟分量；
Figure GDA00042016533600000316
为卫星s在第二频点的载波相位时变硬件延迟分量；
Figure GDA00042016533600000317
为卫星s在第三频点的载波相位时变硬件延迟分量；
Figure GDA00042016533600000318
Figure GDA00042016533600000319
f1为第一频点的频率，f2为第二频点的频率。in,
Figure GDA00042016533600000312
is the pseudo-range time-invariant hardware delay component of satellite s at the first frequency point;
Figure GDA00042016533600000313
is the pseudorange time-invariant hardware delay component of satellite s at the second frequency point;
Figure GDA00042016533600000314
is the pseudo-range time-invariant hardware delay component of satellite s at the third frequency point;
Figure GDA00042016533600000315
is the carrier phase time-varying hardware delay component of satellite s at the first frequency point;
Figure GDA00042016533600000316
is the time-varying hardware delay component of the carrier phase of satellite s at the second frequency point;
Figure GDA00042016533600000317
is the carrier phase time-varying hardware delay component of satellite s at the third frequency point;
Figure GDA00042016533600000318
Figure GDA00042016533600000319
f1 is the frequency of the first frequency point, and f2 is the frequency of the second frequency point.

进一步的，上述卫星天线相位中心偏差计算方法及装置中，非组合PCO估计模型中，参数重组后第三频点的模糊度参数

Figure GDA00042016533600000320
包括卫星s在各频点的伪距时不变硬件延迟分量；测站r在第一频点、第二频点的伪距时不变硬件延迟分量；测站r在第三频点的载波相位时不变硬件延迟分量和卫星s在第三频点的载波相位时不变硬件延迟分量：Furthermore, in the above satellite antenna phase center deviation calculation method and device, in the non-combined PCO estimation model, the ambiguity parameter of the third frequency point after parameter reorganization is
Figure GDA00042016533600000320
It includes the pseudorange time-invariant hardware delay component of satellite s at each frequency point; the pseudorange time-invariant hardware delay component of station r at the first and second frequencies; the carrier phase time-invariant hardware delay component of station r at the third frequency point and the carrier phase time-invariant hardware delay component of satellite s at the third frequency point:

Figure GDA00042016533600000321
Figure GDA00042016533600000321

其中，λ3为第三频点的波长；

Figure GDA00042016533600000322
为参数重组前第三频点的模糊度参数；br,3为测站r在第三频点的载波相位时不变硬件延迟分量；
Figure GDA00042016533600000323
为卫星s在第三频点的载波相位时不变硬件延迟分量；Br,1为测站r在第一频点的伪距时不变硬件延迟分量；Br,2为测站r在第二频点的伪距时不变硬件延迟分量；
Figure GDA0004201653360000041
为卫星s在第一频点的伪距时不变硬件延迟分量；
Figure GDA0004201653360000042
为卫星s在第二频点的伪距时不变硬件延迟分量；
Figure GDA0004201653360000043
为卫星s在第三频点的伪距时不变硬件延迟分量；
Figure GDA0004201653360000044
f1为第一频点的频率，f2为第二频点的频率。Wherein, λ 3 is the wavelength of the third frequency point;
Figure GDA00042016533600000322
is the ambiguity parameter of the third frequency point before parameter reorganization; b r,3 is the carrier phase time-invariant hardware delay component of station r at the third frequency point;
Figure GDA00042016533600000323
is the carrier phase time-invariant hardware delay component of satellite s at the third frequency point; Br,1 is the pseudorange time-invariant hardware delay component of station r at the first frequency point; Br,2 is the pseudorange time-invariant hardware delay component of station r at the second frequency point;
Figure GDA0004201653360000041
is the pseudo-range time-invariant hardware delay component of satellite s at the first frequency point;
Figure GDA0004201653360000042
is the pseudorange time-invariant hardware delay component of satellite s at the second frequency point;
Figure GDA0004201653360000043
is the pseudo-range time-invariant hardware delay component of satellite s at the third frequency point;
Figure GDA0004201653360000044
f1 is the frequency of the first frequency point, and f2 is the frequency of the second frequency point.

附图说明BRIEF DESCRIPTION OF THE DRAWINGS

图1是本发明卫星天线相位中心偏差计算方法的流程图；FIG1 is a flow chart of a method for calculating a phase center deviation of a satellite antenna according to the present invention;

图2是本发明采用本发明的方法得到的L5频点的PCO水平时间序列及beta角的变化示意图；FIG2 is a schematic diagram of the change of the PCO level time series and beta angle at the L5 frequency point obtained by the method of the present invention;

图3是本发明采用IF策略得到的PCO水平时间序列及beta角的变化示意图；FIG3 is a schematic diagram of the change of the PCO level time series and beta angle obtained by the present invention using the IF strategy;

图4-1是本发明采用UC策略得到的L1频点的PCO水平时间序列及beta角的变化示意图；FIG4-1 is a schematic diagram of the change of the PCO level time series and beta angle at the L1 frequency point obtained by the present invention using the UC strategy;

图4-2是本发明采用UC策略得到的L2频点的PCO水平时间序列及beta角的变化示意图；FIG4-2 is a schematic diagram of the change of the PCO level time series and beta angle at the L2 frequency point obtained by the present invention using the UC strategy;

图5是本发明SRP模型的D0参数随beta角的变化序列示意图；FIG5 is a schematic diagram of the variation sequence of the D0 parameter of the SRP model of the present invention with the beta angle;

图6是本发明采用本发明的方法得到的L5频点的PCO垂向时间序列示意图；FIG6 is a schematic diagram of the vertical time series of PCO at the L5 frequency point obtained by the method of the present invention;

图7是本发明采用IF策略得到的PCO垂向时间序列示意图；FIG7 is a schematic diagram of the vertical time series of PCO obtained by adopting the IF strategy of the present invention;

图8-1是本发明采用UC策略得到的L1频点的PCO垂向时间序列示意图；FIG8-1 is a schematic diagram of the PCO vertical time series of the L1 frequency point obtained by using the UC strategy of the present invention;

图8-2是本发明采用UC策略得到的L2频点的PCO垂向时间序列示意图。FIG8-2 is a schematic diagram of the PCO vertical time series of the L2 frequency point obtained by adopting the UC strategy of the present invention.

具体实施方式DETAILED DESCRIPTION

卫星天线相位中心偏差计算方法实施例：Satellite antenna phase center deviation calculation method embodiment:

卫星天线相位中心偏差(即PCO)计算方法的主要构思在于，由于不精确的PCO将会对GNSS的精密定位、定轨、姿态、光压以及地球参考框架参数的解算带来显著影响，因此本发明建立了非组合PCO估计模型，通过非组合PCO估计模型精确的单独计算出第三频点的PCO。The main idea of the satellite antenna phase center deviation (i.e. PCO) calculation method is that since inaccurate PCO will have a significant impact on the precise positioning, orbit determination, attitude, optical pressure and earth reference frame parameter solution of GNSS, the present invention establishes a non-combined PCO estimation model, and the PCO of the third frequency point is accurately calculated separately through the non-combined PCO estimation model.

具体的，卫星天线相位中心偏差计算方法，如图1所示，包括以下步骤：Specifically, the satellite antenna phase center deviation calculation method, as shown in FIG1 , includes the following steps:

1)获取各测站的历史观测量。1) Obtain the historical observations of each station.

2)以GNSS的基本观测方程为基础，建立非组合PCO估计模型。2) Based on the basic observation equations of GNSS, a non-combined PCO estimation model is established.

由于观测量中存在时变偏分差量，因此GNSS的基本观测方程的偏差项中包括测站和卫星时不变硬件延迟分量和时变硬件延迟分量，具体的，GNSS的基本观测方程如下：Since there are time-varying bias differences in the observed quantities, the bias term of the basic observation equation of GNSS includes the time-invariant hardware delay component and the time-varying hardware delay component of the station and the satellite. Specifically, the basic observation equation of GNSS is as follows:

Figure GDA0004201653360000045
Figure GDA0004201653360000045

其中，

Figure GDA0004201653360000051
为卫星s，测站r在第i频点的伪距(即伪距观测量)，i＝1、2、3；
Figure GDA0004201653360000052
为卫星s，测站r的距离；
Figure GDA0004201653360000053
为卫星s，测站r的投影函数；Tr为测站r的对流层延迟；c为光速；δtr为参数重组前测站r的钟差；
Figure GDA0004201653360000054
为参数重组前第一频点的电离层延迟；γi为
Figure GDA0004201653360000055
的系数，γi＝(f1/fi)2，fi为第i频点的频率；Br,i为测站r在第i频点的伪距时不变硬件延迟分量；
Figure GDA0004201653360000056
为卫星s在第i频点的伪距时不变硬件延迟分量；
Figure GDA0004201653360000057
为卫星s，测站r在第i频点的载波相位(即载波相位观测量)；λi为第i频点的波长；
Figure GDA0004201653360000058
为参数重组前第i频点的模糊度参数；br,i为测站r在第i个频点的载波相位时不变硬件延迟分量；
Figure GDA0004201653360000059
为卫星s在第i个频点的载波相位时不变硬件延迟分量；
Figure GDA00042016533600000510
为卫星s在第i频点的载波相位时变硬件延迟分量。in,
Figure GDA0004201653360000051
is the pseudorange (i.e., pseudorange observation) of satellite s and station r at the i-th frequency point, i = 1, 2, 3;
Figure GDA0004201653360000052
is the distance between satellite s and station r;
Figure GDA0004201653360000053
is the projection function of satellite s and station r; Tr is the tropospheric delay of station r; c is the speed of light; δt r is the clock error of station r before parameter reorganization;
Figure GDA0004201653360000054
is the ionospheric delay of the first frequency point before parameter reorganization; γ i is
Figure GDA0004201653360000055
The coefficient of γ i =(f 1 /f i ) 2 , where f i is the frequency of the i-th frequency point; B r,i is the pseudo-range time-invariant hardware delay component of the measuring station r at the i-th frequency point;
Figure GDA0004201653360000056
is the pseudo-range time-invariant hardware delay component of satellite s at the i-th frequency point;
Figure GDA0004201653360000057
is the carrier phase of satellite s and station r at the i-th frequency point (i.e., carrier phase observation); λ i is the wavelength of the i-th frequency point;
Figure GDA0004201653360000058
is the ambiguity parameter of the i-th frequency point before parameter reorganization; b r,i is the carrier phase time-invariant hardware delay component of the measuring station r at the i-th frequency point;
Figure GDA0004201653360000059
is the carrier phase time-invariant hardware delay component of satellite s at the i-th frequency point;
Figure GDA00042016533600000510
is the time-varying hardware delay component of the carrier phase of satellite s at the i-th frequency point.

现有技术中，一般使用IF组合策略进行PCO的计算，对于该策略，以GNSS的基本观测方程为基础得到基于双频消电离层组合的观测模型，该模型以双频组合得到PCO：In the prior art, the IF combination strategy is generally used to calculate PCO. For this strategy, an observation model based on dual-frequency ionospheric elimination combination is obtained based on the basic observation equation of GNSS. The model obtains PCO by dual-frequency combination:

Figure GDA00042016533600000511
Figure GDA00042016533600000511

其中，

Figure GDA00042016533600000512
为卫星s，测站r的IF伪距；
Figure GDA00042016533600000513
为卫星s，测站r的视线向量；Φ(t0,t)s为卫星s从初始时刻t0到当前时刻t的状态转移矩阵；
Figure GDA00042016533600000514
表示卫星s的初始状态参数，包括位置、速度和力模型参数；es为卫星s在参考坐标系下的星固系坐标矢量；
Figure GDA00042016533600000515
为卫星s的IF组合的PCO改正向量，卫星s的天线坐标在星固系中表示，星固系的Z轴指向地心，Y轴为太阳面板的旋转轴，X轴服从右手系；xr为测站r的位置向量；c为光速；
Figure GDA00042016533600000516
为参数重组后测站r的钟差；
Figure GDA00042016533600000517
为参数重组后卫星s的钟差；
Figure GDA00042016533600000518
为卫星s，测站r的投影函数；Tr为测站r的对流层延迟；
Figure GDA00042016533600000519
为伪距的IF测量误差；
Figure GDA00042016533600000520
为卫星s，测站r的IF载波相位；
Figure GDA00042016533600000521
为载波相位的IF测量误差；
Figure GDA00042016533600000522
为消电离层组合的模糊度参数。in,
Figure GDA00042016533600000512
is the IF pseudorange of satellite s and station r;
Figure GDA00042016533600000513
is the line of sight vector between satellite s and station r; Φ(t 0 ,t) s is the state transfer matrix of satellite s from the initial time t 0 to the current time t;
Figure GDA00042016533600000514
represents the initial state parameters of satellite s, including position, velocity and force model parameters; e s is the satellite fixed system coordinate vector of satellite s in the reference coordinate system;
Figure GDA00042016533600000515
is the PCO correction vector of the IF combination of satellite s, the antenna coordinates of satellite s are expressed in the satellite-fixed system, the Z axis of the satellite-fixed system points to the center of the earth, the Y axis is the rotation axis of the solar panel, and the X axis obeys the right-hand system; x r is the position vector of station r; c is the speed of light;
Figure GDA00042016533600000516
is the clock error of station r after parameter reorganization;
Figure GDA00042016533600000517
is the clock error of satellite s after parameter reorganization;
Figure GDA00042016533600000518
is the projection function of satellite s and station r; Tr is the tropospheric delay of station r;
Figure GDA00042016533600000519
is the IF measurement error of the pseudorange;
Figure GDA00042016533600000520
is the IF carrier phase of satellite s and station r;
Figure GDA00042016533600000521
is the IF measurement error of the carrier phase;
Figure GDA00042016533600000522
is the ambiguity parameter of the ionospheric elimination combination.

基于双频消电离层组合的观测模型中，各参数具体如下：In the observation model based on the dual-frequency deionospheric combination, the parameters are as follows:

Figure GDA00042016533600000523
Figure GDA00042016533600000523

其中，in,

Figure GDA00042016533600000524
Figure GDA00042016533600000524

其中，δtr为参数重组前测站r的钟差；

Figure GDA00042016533600000525
f1为第一频点的频率，f2为第二频点的频率；c为光速；Br,1为测站r在第一频点的伪距时不变硬件延迟分量；Br,2为测站r在第二频点的伪距时不变硬件延迟分量；δts为参数重组前卫星s的钟差；
Figure GDA0004201653360000061
为卫星s在第一频点的伪距时不变硬件延迟分量；
Figure GDA0004201653360000062
为卫星s在第二频点的伪距时不变硬件延迟分量；
Figure GDA0004201653360000063
为卫星s在第一频点的载波相位时变硬件延迟分量；
Figure GDA0004201653360000064
为卫星s在第二频点的载波相位时变硬件延迟分量；λIF为IF的组合波长；
Figure GDA0004201653360000065
为参数重组前第一频点的模糊度参数；
Figure GDA0004201653360000066
为参数重组前第二频点的模糊度参数；br,IF为测站r的IF载波相位时不变硬件延迟分量；br,1为测站r在第一频点的载波相位时不变硬件延迟分量；br,2为测站r在第二频点的载波相位时不变硬件延迟分量；
Figure GDA0004201653360000067
为卫星s的IF载波相位时不变硬件延迟分量；
Figure GDA0004201653360000068
为卫星s在第一频点的载波相位时不变硬件延迟分量；
Figure GDA0004201653360000069
为卫星s在第二频点的载波相位时不变硬件延迟分量；
Figure GDA00042016533600000610
为测站r的IF伪距时不变硬件延迟分量；
Figure GDA00042016533600000611
为卫星s的IF伪距时不变硬件延迟分量。Where δt r is the clock error of station r before parameter reorganization;
Figure GDA00042016533600000525
f1 is the frequency of the first frequency point, f2 is the frequency of the second frequency point; c is the speed of light; B r,1 is the pseudo-range time-invariant hardware delay component of the measuring station r at the first frequency point; B r,2 is the pseudo-range time-invariant hardware delay component of the measuring station r at the second frequency point; δt s is the clock error of satellite s before parameter reorganization;
Figure GDA0004201653360000061
is the pseudo-range time-invariant hardware delay component of satellite s at the first frequency point;
Figure GDA0004201653360000062
is the pseudorange time-invariant hardware delay component of satellite s at the second frequency point;
Figure GDA0004201653360000063
is the carrier phase time-varying hardware delay component of satellite s at the first frequency point;
Figure GDA0004201653360000064
is the carrier phase time-varying hardware delay component of satellite s at the second frequency point; λ IF is the combined wavelength of IF;
Figure GDA0004201653360000065
is the ambiguity parameter of the first frequency point before parameter reorganization;
Figure GDA0004201653360000066
is the ambiguity parameter of the second frequency point before parameter reorganization; b r,IF is the time-invariant hardware delay component of the IF carrier phase of the measuring station r; b r,1 is the time-invariant hardware delay component of the carrier phase of the measuring station r at the first frequency point; b r,2 is the time-invariant hardware delay component of the carrier phase of the measuring station r at the second frequency point;
Figure GDA0004201653360000067
is the time-invariant hardware delay component of the IF carrier phase of satellite s;
Figure GDA0004201653360000068
is the carrier phase time-invariant hardware delay component of satellite s at the first frequency point;
Figure GDA0004201653360000069
is the carrier phase time-invariant hardware delay component of satellite s at the second frequency point;
Figure GDA00042016533600000610
is the time-invariant hardware delay component of the IF pseudorange of station r;
Figure GDA00042016533600000611
is the time-invariant hardware delay component of the IF pseudorange of satellite s.

然而上述模型中无法对单个频点的PCO进行计算，因此提出本发明的非组合PCO估计模型，非组合PCO估计模型包括第一频点、第二频点和第三频点的伪距方程和载波相位方程，具体如下：However, the above model cannot calculate the PCO of a single frequency point, so a non-combined PCO estimation model of the present invention is proposed, and the non-combined PCO estimation model includes pseudorange equations and carrier phase equations for the first frequency point, the second frequency point, and the third frequency point, which are as follows:

Figure GDA00042016533600000612
Figure GDA00042016533600000612

其中，

Figure GDA00042016533600000613
为卫星s，测站r在第一频点的伪距；
Figure GDA00042016533600000614
为卫星s，测站r的视线向量；in,
Figure GDA00042016533600000613
is the pseudorange of satellite s and station r at the first frequency point;
Figure GDA00042016533600000614
is the line of sight vector between satellite s and station r;

Φ(t0,t)s为卫星s从初始时刻t0到当前时刻t的状态转移矩阵；

Figure GDA00042016533600000615
表示卫星s的初始状态参数，包括位置、速度和力模型参数；xr为测站r的位置向量；
Figure GDA00042016533600000616
为卫星s，测站r的投影函数；Tr为测站r的对流层延迟；c为光速；
Figure GDA00042016533600000617
为参数重组后测站r的钟差；
Figure GDA00042016533600000618
为参数重组后卫星s的钟差；
Figure GDA00042016533600000619
为参数重组后第一频点的电离层延迟(一阶项)；γ1为第一频点的电离层延迟系数；ε1为第一频点伪距的测量误差；
Figure GDA00042016533600000620
为卫星s，测站r在第二频点的伪距；γ2为第二频点的电离层延迟系数；ε2为第二频点伪距的测量误差；
Figure GDA00042016533600000621
为卫星s，测站r在第三频点的伪距；es为卫星s在参考坐标系下的星固系坐标矢量；
Figure GDA00042016533600000622
为卫星s第三频点的PCO改正向量；γ3为第三频点的电离层延迟系数；ε3为第三频点伪距的测量误差；
Figure GDA00042016533600000623
为卫星s，测站r在第一频点的载波相位；
Figure GDA00042016533600000624
为卫星s，测站r在第二频点的载波相位；
Figure GDA00042016533600000625
为卫星s，测站r在第三频点的载波相位；Hr为测站r第三频点的偏差项；
Figure GDA00042016533600000626
为参数重组后卫星s第三频点的偏差项；
Figure GDA0004201653360000071
为参数重组后第一频点的模糊度参数；
Figure GDA0004201653360000072
为参数重组后第二频点的模糊度参数；
Figure GDA0004201653360000073
为参数重组后第三频点的模糊度参数。Φ(t 0 ,t) s is the state transfer matrix of satellite s from the initial time t 0 to the current time t;
Figure GDA00042016533600000615
represents the initial state parameters of satellite s, including position, velocity and force model parameters; x r is the position vector of station r;
Figure GDA00042016533600000616
is the projection function of satellite s and station r; Tr is the tropospheric delay of station r; c is the speed of light;
Figure GDA00042016533600000617
is the clock error of station r after parameter reorganization;
Figure GDA00042016533600000618
is the clock error of satellite s after parameter reorganization;
Figure GDA00042016533600000619
is the ionospheric delay (first-order term) of the first frequency point after parameter reorganization; γ 1 is the ionospheric delay coefficient of the first frequency point; ε 1 is the measurement error of the pseudorange of the first frequency point;
Figure GDA00042016533600000620
is the pseudorange of satellite s and station r at the second frequency point; γ 2 is the ionospheric delay coefficient of the second frequency point; ε 2 is the measurement error of the pseudorange at the second frequency point;
Figure GDA00042016533600000621
is the pseudorange of satellite s and station r at the third frequency point; es is the satellite-fixed system coordinate vector of satellite s in the reference coordinate system;
Figure GDA00042016533600000622
is the PCO correction vector of the third frequency point of satellite s; γ 3 is the ionospheric delay coefficient of the third frequency point; ε 3 is the measurement error of the pseudorange of the third frequency point;
Figure GDA00042016533600000623
is the carrier phase of satellite s and station r at the first frequency point;
Figure GDA00042016533600000624
is the carrier phase of satellite s and station r at the second frequency point;
Figure GDA00042016533600000625
is the carrier phase of satellite s and station r at the third frequency point; H r is the deviation term of the third frequency point of station r;
Figure GDA00042016533600000626
is the deviation term of the third frequency point of satellite s after parameter reorganization;
Figure GDA0004201653360000071
is the ambiguity parameter of the first frequency point after parameter reorganization;
Figure GDA0004201653360000072
is the ambiguity parameter of the second frequency point after parameter reorganization;
Figure GDA0004201653360000073
is the ambiguity parameter of the third frequency point after parameter reorganization.

上述第一频点的电离层延迟系数γ1＝(f1/f1)2、第二频点的电离层延迟系数γ2＝(f1/f2)2、第三频点的电离层延迟系数γ3＝(f1/f3)2，其中，f1为第一频点的频率、f2为第二频点的频率、f3为第三频点的频率。The ionospheric delay coefficient of the first frequency point is γ 1 =(f 1 /f 1 ) 2 , the ionospheric delay coefficient of the second frequency point is γ 2 =(f 1 /f 2 ) 2 , and the ionospheric delay coefficient of the third frequency point is γ 3 =(f 1 /f 3 ) 2 , wherein f 1 is the frequency of the first frequency point, f 2 is the frequency of the second frequency point, and f 3 is the frequency of the third frequency point.

非组合PCO估计模型中，测站r第三频点的偏差项Hr包括测站r在各频点的伪距时不变硬件延迟分量；参数重组后卫星s第三频点的偏差项

Figure GDA0004201653360000074
包括卫星s在各频点的载波相位时变硬件延迟分量和伪距时不变硬件延迟分量；参数重组后第三频点的模糊度参数
Figure GDA0004201653360000075
包括卫星s在各频点的伪距时不变硬件延迟分量；测站r在第一频点、第二频点的伪距时不变硬件延迟分量；测站r在第三频点的载波相位时不变硬件延迟分量和卫星s在第三频点的载波相位时不变硬件延迟分量，具体如下：In the non-combined PCO estimation model, the bias term Hr of the third frequency point of station r includes the pseudorange time-invariant hardware delay component of station r at each frequency point; the bias term of the third frequency point of satellite s after parameter reorganization is
Figure GDA0004201653360000074
Including the carrier phase time-varying hardware delay component and pseudo-range time-invariant hardware delay component of satellite s at each frequency point; the ambiguity parameter of the third frequency point after parameter reorganization
Figure GDA0004201653360000075
It includes the pseudorange time-invariant hardware delay component of satellite s at each frequency point; the pseudorange time-invariant hardware delay component of station r at the first frequency point and the second frequency point; the carrier phase time-invariant hardware delay component of station r at the third frequency point and the carrier phase time-invariant hardware delay component of satellite s at the third frequency point, as follows:

Figure GDA0004201653360000076
Figure GDA0004201653360000076

其中，δtr为参数重组前测站r的钟差；Br,1为测站r在第一频点的伪距时不变硬件延迟分量；Br,2为测站r在第二频点的伪距时不变硬件延迟分量；

Figure GDA0004201653360000077
Figure GDA0004201653360000078
f1为第一频点的频率，f2为第二频点的频率；δts为参数重组前卫星s的钟差；
Figure GDA0004201653360000079
为卫星s在第一频点的伪距时不变硬件延迟分量；
Figure GDA00042016533600000710
为卫星s在第二频点的伪距时不变硬件延迟分量；
Figure GDA00042016533600000711
为卫星s在第一频点的载波相位时变硬件延迟分量；
Figure GDA00042016533600000712
为卫星s在第二频点的载波相位时变硬件延迟分量；
Figure GDA00042016533600000713
为参数重组前第一频点的电离层延迟；
Figure GDA00042016533600000714
为卫星s在第三频点的载波相位时变硬件延迟分量；
Figure GDA00042016533600000715
为参数重组前第i频点的模糊度参数；λi为第i个频点的波长；br,i为测站r在第i个频点的载波相位时不变硬件延迟分量；
Figure GDA00042016533600000716
为卫星s在第i个频点的载波相位时不变硬件延迟分量；
Figure GDA00042016533600000717
为参数重组后第一频点的模糊度参数；
Figure GDA00042016533600000718
为参数重组后第二频点的模糊度参数；
Figure GDA00042016533600000719
为参数重组后不含Hs的第三频点的模糊度参数；Hs参数重组前卫星s第三频点的偏差项；Br,3为测站r在第三频点的伪距时不变硬件延迟分量；
Figure GDA0004201653360000081
为卫星s在第三频点的伪距时不变硬件延迟分量。Where δt r is the clock error of station r before parameter reorganization; B r,1 is the pseudorange time-invariant hardware delay component of station r at the first frequency point; B r,2 is the pseudorange time-invariant hardware delay component of station r at the second frequency point;
Figure GDA0004201653360000077
Figure GDA0004201653360000078
f 1 is the frequency of the first frequency point, f 2 is the frequency of the second frequency point; δt s is the clock error of satellite s before parameter reorganization;
Figure GDA0004201653360000079
is the pseudo-range time-invariant hardware delay component of satellite s at the first frequency point;
Figure GDA00042016533600000710
is the pseudorange time-invariant hardware delay component of satellite s at the second frequency point;
Figure GDA00042016533600000711
is the carrier phase time-varying hardware delay component of satellite s at the first frequency point;
Figure GDA00042016533600000712
is the time-varying hardware delay component of the carrier phase of satellite s at the second frequency point;
Figure GDA00042016533600000713
is the ionospheric delay of the first frequency point before parameter reorganization;
Figure GDA00042016533600000714
is the carrier phase time-varying hardware delay component of satellite s at the third frequency point;
Figure GDA00042016533600000715
is the ambiguity parameter of the i-th frequency point before parameter reorganization; λ i is the wavelength of the i-th frequency point; br,i is the carrier phase time-invariant hardware delay component of the measuring station r at the i-th frequency point;
Figure GDA00042016533600000716
is the carrier phase time-invariant hardware delay component of satellite s at the i-th frequency point;
Figure GDA00042016533600000717
is the ambiguity parameter of the first frequency point after parameter reorganization;
Figure GDA00042016533600000718
is the ambiguity parameter of the second frequency point after parameter reorganization;
Figure GDA00042016533600000719
is the ambiguity parameter of the third frequency point without Hs after parameter reorganization; is the bias term of the third frequency point of satellite s before Hs parameter reorganization; B r,3 is the pseudo-range time-invariant hardware delay component of station r at the third frequency point;
Figure GDA0004201653360000081
is the time-invariant hardware delay component of the pseudorange of satellite s at the third frequency point.

非组合PCO估计模型中，

Figure GDA0004201653360000082
xr,Tr,
Figure GDA0004201653360000083
Hr,
Figure GDA0004201653360000084
为未知参数，对于
Figure GDA0004201653360000085
和Hr需要加入约束条件以消除秩亏，本文的方法是选取一地面测站作为参考钟，选取一个测站的Hr值为0。In the non-combined PCO estimation model,
Figure GDA0004201653360000082
x r ,T r ,
Figure GDA0004201653360000083
H r ,
Figure GDA0004201653360000084
is an unknown parameter, for
Figure GDA0004201653360000085
Constraints need to be added to H r to eliminate rank deficiency. The method in this paper is to select a ground station as the reference clock and select a station with an H r value of 0.

3)将步骤1)中得到历史观测量带入步骤2)中的非组合PCO估计模型，得到第三频点的PCO。3) The historical observations obtained in step 1) are brought into the non-combined PCO estimation model in step 2) to obtain the PCO of the third frequency point.

以下以一个具体的实施例对第三频点的PCO进行计算，并与现有技术进行比较。The PCO at the third frequency point is calculated using a specific embodiment below and compared with the prior art.

历史观测量为：数据处理时段选定为2018年一整年的时段，收集可接收GPS三频观测量的所有MGEX测站，共约110个左右的测站，三频对应的为L1频点(第一频点)、L2频点(第二频点)和L5频点(第三频点)。进行PCO估计的观测模型、引力模型和非引力模型的信息见表一。需要指出由于Z向PCO与地球参考框架尺度因子强相关，因此对所有的地面测站坐标根据IGS发布的周解文件igs.snx进行强约束。对于L1频点和L2频点的PCO使用IGS产品，对于L5频点的先验值，与L1频点和L2频点相同，各分量先验约束为10。The historical observations are as follows: The data processing period is selected as the whole year of 2018, and all MGEX stations that can receive GPS triple-frequency observations are collected, totaling about 110 stations. The three frequencies correspond to L1 frequency (first frequency), L2 frequency (second frequency) and L5 frequency (third frequency). The information of the observation model, gravity model and non-gravity model for PCO estimation is shown in Table 1. It should be pointed out that since the Z-direction PCO is strongly related to the scale factor of the earth reference frame, the coordinates of all ground stations are strongly constrained according to the weekly solution file igs.snx released by IGS. For the PCO of L1 and L2 frequencies, IGS products are used. For the prior value of L5 frequency, it is the same as that of L1 and L2 frequencies, and the prior constraint of each component is 10.

表一观测模型、引力模型和非引力模型的信息Table 1 Information of observation model, gravitational model and non-gravitational model

Figure GDA0004201653360000086
Figure GDA0004201653360000086

通过本发明的非组合PCO估计模型得到如图2所示，G01卫星和G03卫星的L5频点的PCO水平时间序列(包括X方向和Y方向)及beta角(太阳高度角)的变化示意图，其中PCO的误差乘上了三倍值以清晰展示，可以看到L5频点的PCO的水平时间序列值在太阳高度角较大时结果更加离散，这是由于PCO的水平向与太阳光压模型(即SRP模型)的D0参数存在相关性。The non-combined PCO estimation model of the present invention is used to obtain a schematic diagram of the change of the PCO horizontal time series (including the X direction and the Y direction) and the beta angle (solar altitude angle) of the L5 frequency point of the G01 satellite and the G03 satellite as shown in FIG2, wherein the error of the PCO is multiplied by three times for clear display. It can be seen that the horizontal time series value of the PCO at the L5 frequency point is more discrete when the solar altitude angle is larger. This is because the horizontal direction of the PCO is correlated with the D0 parameter of the solar pressure model (i.e., the SRP model).

将本发明得到的L5频点的PCO与现有技术中得到的PCO进行比较，第一种现有技术如图3所示，图3为现有技术中采用IF组合策略得到G01卫星和G03卫星的PCO。图2中全年的水平时间序列似乎并没有稳定在一个数值上，这一结果与图3得到的结果并不一致。图3中表明除去高太阳高度角时段及部分星蚀期时段结果较差以外，其余时段的时间序列较L5频点的估计的结果更加稳定在一个数值中。第二种现有技术如图4-1、4-2所示，采用双频非组合策略(即UC策略)得到的L1频点和L2频点的PCO水平时间序列，两个频点的趋势相近，并且可以发现UC策略得到的PCO和本发明L5频点估计得到的PCO的特性也很相近，即全年的PCO水平时间序列存在波动，其原因为三个频点之间的PCO存在相关性，L5频点的PCO系数矩阵与L1、L2频点的值差异仅存在于不同频点的视线向量上，这一差异是很小的。The PCO of the L5 frequency point obtained by the present invention is compared with the PCO obtained in the prior art. The first prior art is shown in FIG3, which is the PCO of the G01 satellite and the G03 satellite obtained by the IF combination strategy in the prior art. The horizontal time series of the whole year in FIG2 does not seem to be stable at a value, and this result is inconsistent with the result obtained in FIG3. FIG3 shows that except for the period of high solar altitude angle and part of the eclipse period, the time series of the remaining periods are more stable at a value than the estimated result of the L5 frequency point. The second prior art is shown in FIG4-1 and FIG4-2. The PCO horizontal time series of the L1 frequency point and the L2 frequency point obtained by the dual-frequency non-combination strategy (i.e., UC strategy) have similar trends, and it can be found that the characteristics of the PCO obtained by the UC strategy and the PCO estimated by the L5 frequency point of the present invention are also very similar, that is, the PCO horizontal time series of the whole year fluctuates. The reason is that there is a correlation between the PCOs of the three frequency points. The difference between the PCO coefficient matrix of the L5 frequency point and the L1 and L2 frequency points only exists in the line of sight vectors of different frequency points, and this difference is very small.

考虑到PCO水平时间序列与SRP模型的D0参数存在强相关性，为此查验D0的结果。图5绘制了G09卫星的D0数值以太阳高度角作为X轴的数值序列结果，D0的数值较为稳定。这表明本发明使用的SRP模型是合适的，并对D0参数添加0.1nm/s2的约束。Considering that there is a strong correlation between the PCO level time series and the D 0 parameter of the SRP model, the D 0 result is checked. Figure 5 plots the D 0 value of the G09 satellite with the solar altitude angle as the numerical sequence result of the X-axis, and the D 0 value is relatively stable. This shows that the SRP model used in the present invention is appropriate, and a constraint of 0.1nm/s 2 is added to the D 0 parameter.

同样，通过本发明的非组合PCO估计模型还得到如图6所示，G01卫星、G03卫星、G06卫星和G08卫星的L5频点的PCO垂向时间序列(包括Z方向)示意图(太阳高度角的影响较弱)，其中PCO误差乘上了三倍值以清晰展示，可以看出，L5频点的PCO垂向时间序列较为稳定，与现有技术进行比较，第一种现有技术如图7所示的IF策略得到的PCO垂向时间序列，结果趋势项不显著，而第二种现有技术如图8-1、8-2所示的L1频点和L2频点的PCO垂向时间序列，L1频点的结果不存在趋势项，而对于L2频点的结果趋势项显著大于L1频点，但是L1频点和L2频点的总体趋势是一致的。Similarly, the non-combined PCO estimation model of the present invention also obtains a schematic diagram of the PCO vertical time series (including the Z direction) of the L5 frequency point of the G01 satellite, the G03 satellite, the G06 satellite and the G08 satellite as shown in FIG6 (the influence of the solar altitude angle is relatively weak), wherein the PCO error is multiplied by three times the value for clear display. It can be seen that the PCO vertical time series of the L5 frequency point is relatively stable. Compared with the prior art, the first prior art is the PCO vertical time series obtained by the IF strategy as shown in FIG7 , and the result trend item is not significant, while the second prior art is the PCO vertical time series of the L1 frequency point and the L2 frequency point as shown in FIGS. 8-1 and 8-2 , the result of the L1 frequency point does not have a trend item, and the result trend item of the L2 frequency point is significantly greater than that of the L1 frequency point, but the overall trends of the L1 frequency point and the L2 frequency point are consistent.

将PCO的水平时间序列和垂向时间序列进行综合，得到准确的PCO估值，取太阳高度角为5-40度时段的结果均值作为一颗卫星的最终PCO估计结果，得到L5频点的PCO，每颗卫星的中误差量级基本相当，X和Y向的平均中误差值分别为0.2cm和0.2cm，Z向的平均中误差值为1.6cm。The horizontal and vertical time series of PCO are combined to obtain an accurate PCO estimation. The average of the results for the period of solar altitude angle of 5-40 degrees is taken as the final PCO estimation result of a satellite to obtain the PCO of the L5 frequency point. The magnitude of the mean error of each satellite is basically the same. The average mean error values in the X and Y directions are 0.2 cm and 0.2 cm respectively, and the average mean error value in the Z direction is 1.6 cm.

本发明通过非组合PCO估计模型对第三频点的PCO进行准确的计算，优于直接使用临近频点的PCO，不仅可以提升精密轨道和钟差确定的精度，还可以应用于求解地球参考框架尺度参数、精化卫星光压模型、研究电离层延迟的二阶项影响等，实现高精度定位。The present invention uses a non-combined PCO estimation model to accurately calculate the PCO of the third frequency point, which is better than directly using the PCO of the adjacent frequency point. It can not only improve the accuracy of precise orbit and clock error determination, but also be applied to solving the scale parameters of the earth reference frame, refining the satellite optical pressure model, and studying the influence of the second-order term of ionospheric delay, so as to achieve high-precision positioning.

卫星天线相位中心偏差计算装置实施例：Satellite antenna phase center deviation calculation device embodiment:

卫星天线相位中心偏差计算装置，包括处理器、存储器以及存储在所述存储器中并可在处理器上运行的计算机程序，所述处理器在执行所述计算机程序时实现卫星天线相位中心偏差计算方法。A satellite antenna phase center deviation calculation device comprises a processor, a memory, and a computer program stored in the memory and executable on the processor. The processor implements a satellite antenna phase center deviation calculation method when executing the computer program.

卫星天线相位中心偏差计算方法的具体实施过程以及效果在上述卫星天线相位中心偏差计算方法实施例中介绍，这里不做赘述。The specific implementation process and effect of the satellite antenna phase center deviation calculation method are introduced in the above-mentioned satellite antenna phase center deviation calculation method embodiment, which will not be repeated here.

也就是说，以上卫星天线相位中心偏差计算方法实施例中的方法应理解可由计算机程序指令实现卫星天线相位中心偏差计算方法的流程。可提供这些计算机程序指令到处理器(如通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备等)，使得通过处理器执行这些指令产生用于实现上述方法流程所指定的功能。That is, the method in the above satellite antenna phase center deviation calculation method embodiment should be understood to be able to implement the process of the satellite antenna phase center deviation calculation method by computer program instructions. These computer program instructions can be provided to a processor (such as a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device, etc.), so that the processor executes these instructions to generate functions specified in the above method flow.

本实施例所指的处理器是指微处理器MCU或可编程逻辑器件FPGA等的处理装置；The processor referred to in this embodiment refers to a processing device such as a microprocessor MCU or a programmable logic device FPGA;

本实施例所指的存储器用于存储实现卫星天线相位中心偏差计算方法而形成的计算机程序指令，包括用于存储信息的物理装置，通常是将信息数字化后再以利用电、磁或者光学等方式的媒体加以存储。例如：利用电能方式存储信息的各式存储器，RAM、ROM等；利用磁能方式存储信息的的各式存储器，硬盘、软盘、磁带、磁芯存储器、磁泡存储器、U盘；利用光学方式存储信息的各式存储器，CD或DVD。当然，还有其他方式的存储器，例如量子存储器、石墨烯存储器等等。The memory referred to in this embodiment is used to store computer program instructions formed to implement the satellite antenna phase center deviation calculation method, including a physical device for storing information, which usually digitizes the information and then stores it in a medium using electrical, magnetic or optical methods. For example: various memories that use electrical energy to store information, such as RAM, ROM, etc.; various memories that use magnetic energy to store information, such as hard disks, floppy disks, magnetic tapes, magnetic core memories, bubble memories, and U disks; various memories that use optical methods to store information, such as CDs or DVDs. Of course, there are other types of memories, such as quantum memories, graphene memories, and so on.

通过上述存储有实现卫星天线相位中心偏差计算方法而形成的计算机程序指令的存储器、处理器构成的卫星天线相位中心偏差计算装置，在计算机中由处理器执行相应的程序指令来实现，计算机可使用windows操作系统、linux系统、或其他，例如使用android、iOS系统程序设计语言在智能终端实现，以及基于量子计算机的处理逻辑实现等。The satellite antenna phase center deviation calculation device is composed of the above-mentioned memory and processor that store computer program instructions formed by implementing the satellite antenna phase center deviation calculation method. The processor executes corresponding program instructions in the computer to implement it. The computer can use the Windows operating system, Linux system, or others, such as Android, iOS system programming language to implement it in a smart terminal, and it can be implemented based on the processing logic of a quantum computer.

作为其他实施方式，卫星天线相位中心偏差计算装置还可以包括其他的处理硬件，如数据库或多级缓存、GPU等，本发明并不对卫星天线相位中心偏差计算装置的结构做具体的限定。As other implementations, the satellite antenna phase center deviation calculation device may also include other processing hardware, such as a database or multi-level cache, GPU, etc. The present invention does not specifically limit the structure of the satellite antenna phase center deviation calculation device.

Claims (5)

1. The satellite antenna phase center deviation calculating method is characterized by comprising the following steps of:
1) Acquiring historical observables of each measuring station;
2) Based on a basic observation equation of a GNSS, establishing a non-combined PCO estimation model, wherein the non-combined PCO estimation model comprises a pseudo-range equation and a carrier phase equation of each frequency point; each frequency point comprises a first frequency point, a second frequency point and a third frequency point;
3) Obtaining PCO of a third frequency point according to the historical observables and the non-combined PCO estimation model; PCO refers to antenna phase center offset;
the non-combined PCO estimation model is:
Figure FDA0004184823520000011
wherein ,
Figure FDA0004184823520000012
the pseudo range of the station r at the first frequency point is measured for the satellite s;
Figure FDA0004184823520000013
A sight vector of a satellite s and a station r; phi (t) 0 ,t) s From the initial time t for satellite s 0 A state transition matrix to the current time t;
Figure FDA0004184823520000014
Initial state parameters representing satellites s, including position, velocity, and force model parameters; x is x r Position vector for station r;
Figure FDA0004184823520000015
A projection function of a satellite s and a station r; t (T) r Tropospheric delay for station r; c is the speed of light;
Figure FDA0004184823520000016
Measuring the clock difference of the station r after parameter recombination;
Figure FDA0004184823520000017
The clock difference of the satellite s after parameter recombination is given;
Figure FDA0004184823520000018
Ionospheric delay for the first frequency point after parameter reorganization; gamma ray 1 Ionospheric delay coefficients for the first frequency points; epsilon 1 The measurement error of the first frequency point pseudo range is obtained;
Figure FDA0004184823520000019
The pseudo range of the station r at the second frequency point is measured for the satellite s; gamma ray 2 Ionospheric delay coefficients for the second frequency points; epsilon 2 The measurement error of the second frequency point pseudo range is obtained;
Figure FDA00041848235200000110
The pseudo range of the station r at a third frequency point is measured for the satellite s; e, e s A satellite-fixed system coordinate vector of the satellite s in a reference coordinate system;
Figure FDA00041848235200000111
PCO correction vector of the third frequency point of the satellite s; gamma ray 3 Ionospheric delay coefficients for the third frequency point; epsilon 3 The measurement error of the third frequency point pseudo range is obtained;
Figure FDA00041848235200000112
The carrier phase of the station r at the first frequency point is measured for the satellite s;
Figure FDA00041848235200000113
the carrier phase of the station r at the second frequency point is measured for the satellite s;
Figure FDA00041848235200000114
The carrier phase of the station r at a third frequency point is measured for the satellite s; h r A deviation term of a third frequency point of the measuring station r;
Figure FDA00041848235200000115
The deviation term of the third frequency point of the satellite s after parameter recombination;
Figure FDA00041848235200000116
The ambiguity parameters of the first frequency point after parameter recombination are obtained;
Figure FDA00041848235200000117
The ambiguity parameters of the second frequency point after parameter recombination are obtained;
Figure FDA00041848235200000118
And the ambiguity parameters of the third frequency point after parameter recombination are obtained.
2. The method of claim 1, wherein in the non-combined PCO estimation model, the deviation term H of the third frequency point of the station r is measured r The method comprises the steps that a station r does not harden a component of delay of a piece in pseudo range of each frequency point:
H r ＝-(αB r,1 +βB r,2 )-γ 3 β(B r,1 -B r,2 )+B r,3 ；
wherein ,Br,1 The method comprises the steps that a hardening member delay component is not generated when a station r is in pseudo range of a first frequency point; b (B) r,2 A delay component of the hardening member is not hardened when the station r is in the pseudo range of the second frequency point; b (B) r,3 A delay component of the hardening member is not hardened for the station r in the pseudo range of the third frequency point;
Figure FDA0004184823520000021
Figure FDA0004184823520000022
f 1 f is the frequency of the first frequency point 2 Is the frequency of the second frequency point.
3. The method of claim 1, wherein in the non-combined PCO estimation model, the deviation term of the third frequency point of the satellite s after parameter recombination
Figure FDA0004184823520000023
The method comprises the steps of enabling a satellite s to have a carrier phase time-varying hardware delay component of each frequency point and a pseudo-range time-varying hardware delay component: />
Figure FDA0004184823520000024
wherein ,
Figure FDA0004184823520000025
a delay component of the hardening member is not hardened when the satellite s is in the pseudo range of the first frequency point;
Figure FDA0004184823520000026
A delay component of the hardening member is not hardened when the satellite s is in the pseudo range of the second frequency point;
Figure FDA0004184823520000027
A delay component of the hardening member is not hardened when the satellite s is in the pseudo range of the third frequency point;
Figure FDA0004184823520000028
A carrier phase time-varying hardware delay component of the satellite s at a first frequency point;
Figure FDA0004184823520000029
A carrier phase time-varying hardware delay component of the satellite s at a second frequency point;
Figure FDA00041848235200000210
A carrier phase time-varying hardware delay component of the satellite s at a third frequency point;
Figure FDA00041848235200000211
Figure FDA00041848235200000212
f 1 F is the frequency of the first frequency point 2 Is the frequency of the second frequency point.
4. The method of claim 1, wherein in the non-combined PCO estimation model, the ambiguity parameters of the third frequency point after parameter recombination
Figure FDA00041848235200000213
The satellite s does not harden a delay component of the component when in pseudo range of each frequency point; the station r does not harden a delay component of the piece when pseudo ranges of the first frequency point and the second frequency point are generated; station r does not harden the delay component at the carrier phase of the third frequency point and satellite s does not harden the delay component at the carrier phase of the third frequency point:
Figure FDA00041848235200000214
wherein ,λ3 The wavelength of the third frequency point;
Figure FDA00041848235200000215
the ambiguity parameters of the third frequency point before parameter recombination are used; b r,3 The delay component of the hardening member is not hardened when the station r is in the carrier phase of the third frequency point;
Figure FDA00041848235200000216
A component of delay of the hardening member is not hardened for the satellite s at the carrier phase of the third frequency point; b (B) r,1 The method comprises the steps that a hardening member delay component is not generated when a station r is in pseudo range of a first frequency point; b (B) r,2 A delay component of the hardening member is not hardened when the station r is in the pseudo range of the second frequency point;
Figure FDA00041848235200000217
A delay component of the hardening member is not hardened when the satellite s is in the pseudo range of the first frequency point;
Figure FDA00041848235200000218
A delay component of the hardening member is not hardened when the satellite s is in the pseudo range of the second frequency point;
Figure FDA00041848235200000219
A delay component of the hardening member is not hardened when the satellite s is in the pseudo range of the third frequency point;
Figure FDA00041848235200000220
f 1 f is the frequency of the first frequency point 2 Is the frequency of the second frequency point.
5. A satellite antenna phase center deviation calculation device comprising a processor, a memory and a computer program stored in the memory and executable on the processor, the processor implementing the satellite antenna phase center deviation calculation method according to any one of claims 1-4 when executing the computer program.
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