Satellite clock error real-time processing method and system based on inter-station phase deviation consistency

Abstract

The application discloses a satellite clock error real-time processing method and system based on inter-station phase deviation consistency, and belongs to the technical field of global satellite navigation. The method comprises the following steps: based on ionosphere-free combination observation equation and constraint equation, clock error parameters and ionosphere-free combination ambiguity parameters are calculated by using square root information filtering to obtain ambiguity parameter float solution and satellite end clock error parameter float solution; UPD of the satellite end and UPD of the receiver end are extracted based on wide-lane ambiguity parameter float solution and narrow-lane ambiguity parameter float solution; UPD residual of each satellite at the satellite end is calculated, and all satellites at the satellite end are marked as normal satellites and abnormal satellites; wide-lane ambiguity fixing and narrow-lane ambiguity fixing are performed on the normal satellites, and constraints are added to obtain clock error solution of the normal satellites; ambiguity fixing is not performed on the abnormal satellites, and ionosphere-free combination ambiguity parameter process noise is added to obtain clock error solution of the abnormal satellites. The method improves the accuracy of satellite clock error estimation.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of global satellite navigation, and particularly relates to a satellite clock error real-time processing method and system based on inter-station phase deviation consistency. BACKGROUND

[0002] In recent years, the GNSS (Global Navigation Satellite System) construction is increasingly perfect, and the service capacity is continuously improved, which provides a more reliable and convenient technical means for high-precision space-time position information service. With the development of social economy and science and technology, the demand for real-time navigation and positioning is increasing, especially in emerging application fields such as intelligent transportation, automatic driving, disaster monitoring and precision agriculture, higher requirements for real-time and precision of positioning service are put forward.

[0003] High-precision satellite clock error product is the premise of realizing real-time precise positioning. At present, the post-precise clock error provided by IGS (International GNSS Service) has an accuracy of 75ps, which can well meet the demand of post-precise positioning. However, the IGS post-precise product has a delay of 12-18 days, which cannot meet the real-time application demand of PPP (Precise Point Positioning). The observation part of the IGS ultra-fast clock error product has an accuracy of 0.15ns, but still has a time delay of 3-9h. In addition, due to the strong volatility of GNSS on-board atomic clock, it is difficult to predict, and the prediction part can only reach an accuracy of 3ns, which cannot meet the demand of high-precision positioning. Therefore, at present, the real-time estimation of satellite clock error based on ground tracking station network is generally used to provide services.

[0004] Real-time satellite clock error estimation is based on GNSS observation equation for network real-time solution. Since the accuracy of GNSS carrier phase observation value is significantly higher than that of pseudorange observation value, it has a greater weight in data processing. Under normal circumstances, the weight ratio of pseudorange and phase observation value is set to 1:100, therefore, the influence of carrier phase observation value on satellite clock error estimation plays a dominant role. However, the carrier phase observation value will be affected by the integer ambiguity. The existing processing methods for integer ambiguity include floating solution and fixed solution. Studies have shown that recovering integer ambiguity can improve the accuracy of satellite clock error estimation, but ambiguity fixed error will reduce the reliability of the results. The existing method has the problem that the ambiguity parameter is affected by satellite product quality, environmental factors and other factors in real-time satellite clock error estimation, resulting in low reliability of fixed solution. SUMMARY

[0005] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a real-time satellite clock bias processing method based on inter-station phase deviation consistency, which improves the accuracy of satellite clock bias estimation.

[0006] In a first aspect, this application provides a real-time satellite clock bias processing method based on inter-station phase deviation consistency, the method comprising:

[0007] An ionospheric-free combined observation equation is constructed based on data from multiple satellite positioning systems, and constraint equations are established for each system.

[0008] Based on the combined observation equations and constraint equations for the ionosphere-free environment, square root information filtering is used to determine the clock error parameters and the ionosphere-free environment.

[0009] The ambiguity parameter solution of the layer combination is obtained to obtain the floating-point solution of the ambiguity parameter and the floating-point solution of the satellite clock error parameter. The floating-point solution of the ambiguity parameter includes the wide-lane ambiguity parameter floating-point solution and the narrow-lane ambiguity parameter floating-point solution.

[0010] The UPD (Uncalibrated phase delay) at the satellite end and the UPD at the receiver end are extracted based on the floating-point solutions of the wide-lane ambiguity parameters and the narrow-lane ambiguity parameters. The UPD at the satellite end includes the UPD of each satellite, and the UPD at the receiver end includes the UPD of each receiver.

[0011] Based on the UPD at the satellite end and the UPD at the receiver end, calculate the UPD residual of each satellite at the satellite end, and mark each satellite according to the UPD residual, marking all satellites at the satellite end as normal satellites and abnormal satellites.

[0012] By fixing the wide-lane ambiguity and narrow-lane ambiguity of normal satellites and adding constraints, the clock error solution of normal satellites is obtained. For abnormal satellites, without fixing the ambiguity, process noise of ambiguity parameters without ionospheric combination is added to obtain the clock error solution of abnormal satellites.

[0013] According to one embodiment of this application, the step of solving the clock error parameter and the ambiguity parameter of the ionosphere-free combined observation equation and constraint equation using square root information filtering to obtain the floating-point solution of the ambiguity parameter and the floating-point solution of the satellite-end clock error parameter includes:

[0014] Based on the ionosphere-free combined observation equation and constraint equation, the clock error parameter and the ambiguity parameter of the ionosphere-free combination are solved by filter time update, normal equation establishment, filter measurement update, and parameter value update, so as to obtain the floating-point solution of the ambiguity parameter and the floating-point solution of the satellite-end clock error parameter.

[0015] According to one embodiment of this application, the extraction of the UPD at the satellite end and the UPD at the receiver end based on the wide-lane ambiguity parameter floating-point solution and the narrow-lane ambiguity parameter floating-point solution includes:

[0016] Based on the floating-point solutions of the wide-lane ambiguity parameters and the narrow-lane ambiguity parameters, an additional benchmark is set, and the sum of the UPDs of all satellites in the satellite end is set to 0. The UPDs of the satellite end and the receiver end are solved iteratively.

[0017] According to one embodiment of this application, the iterative solution of the UPD at the satellite end and the UPD at the receiver end includes:

[0018] Based on the floating-point solutions of the wide-lane ambiguity parameters and the narrow-lane ambiguity parameters, the observation station with the most observed satellites is selected as the reference station. The UPD of the receiver of the reference station is set to 0. The fractional part of the floating-point solutions of the wide-lane ambiguity parameters and the narrow-lane ambiguity parameters is taken as the initial value of the satellite UPD in the observation station. Each observation station includes the receiver UPD and the satellite UPD.

[0019] The UPD of the receiver at the current observation station is obtained by iteratively extracting data from all observation stations in sequence. The UPD of the receiver at the current observation station is obtained based on the UPD of the satellite at the previous observation station, and the UPD of the satellite at the current observation station is obtained based on the UPD of the receiver at the current observation station.

[0020] The satellite average UPD is obtained by weighting the satellite UPD calculated for each observation station.

[0021] The average UPD of the satellite is calculated continuously until the average UPD of the satellites calculated in two consecutive calculations is less than a preset threshold. Then, the UPD at the satellite end and the UPD at the receiver end are extracted.

[0022] According to one embodiment of this application, the step of calculating the UPD residual for each satellite at the satellite end based on the UPD at the satellite end and the receiver end, and marking each satellite according to the UPD residual, marking all satellites at the satellite end as normal satellites and abnormal satellites, includes:

[0023] Based on the UPD at both the satellite and receiver ends, the UPD residual for each satellite is calculated using the following formula:

[0024]

[0025] in, and These are the wide-lane ambiguity floating-point solutions and narrow-lane ambiguity floating-point solutions for the satellite, respectively. For receiver number, and These are the integer cycles of the wide-lane ambiguity and the narrow-lane ambiguity of the satellite, respectively. and These are the wide lane UPD and narrow lane UPD at the satellite end, respectively, where 's' is the satellite number. and These are the wide-lane UPD and narrow-lane UPD at the receiver end, respectively. and These are the UPD residuals for the wide aisle and the UPD residuals for the narrow aisle, respectively. For wide lanes, It is a narrow alley;

[0026] By analyzing the distribution pattern of the UPD residuals of each satellite in the entire satellite network, satellites with residuals exceeding 3σ are marked as anomalous satellites, and the remaining satellites are normal satellites.

[0027] According to one embodiment of this application, the step of fixing wide-lane ambiguity and narrow-lane ambiguity of a normal satellite and adding constraints to obtain the clock error solution of the normal satellite includes:

[0028] Wide-lane ambiguity fixation and narrow-lane ambiguity fixation are performed on normal satellites to obtain integer ambiguities of normal satellites. Ambiguity fixation constraint equations are then applied, and clock bias solutions of normal satellites are obtained based on the integer ambiguities of normal satellites. The clock bias solutions of normal satellites are integer solutions.

[0029] According to one embodiment of this application, the process of adding ambiguity parameter noise without ionospheric combination to the anomalous satellite without ambiguity fixation to obtain the clock error solution of the anomalous satellite includes:

[0030] Instead of fixing the ambiguity of the anomalous satellite, process noise is introduced into the ambiguity parameters without ionospheric combination to obtain the ambiguity floating-point solution of the anomalous satellite. Based on the ambiguity floating-point solution of the anomalous satellite, the clock error solution of the anomalous satellite is obtained, and the clock error solution of the anomalous satellite is a floating-point solution.

[0031] Secondly, this application provides a real-time satellite clock bias processing system based on inter-station phase deviation consistency, the system comprising:

[0032] The module is used to construct ionospherically-free combined observation equations based on data from multiple satellite positioning systems, and to establish constraint equations for each system separately.

[0033] The solution module is used to solve the clock error parameters and ambiguity parameters of the ionosphere-free combined observation equation and constraint equation by using square root information filtering, and obtain the floating-point solution of the ambiguity parameters and the floating-point solution of the satellite clock error parameters. The floating-point solution of the ambiguity parameters includes the wide-lane ambiguity parameter floating solution and the narrow-lane ambiguity parameter floating solution.

[0034] An extraction module is used to extract the UPD at the satellite end and the UPD at the receiver end based on the floating-point solution of the wide-lane ambiguity parameter and the floating-point solution of the narrow-lane ambiguity parameter. The UPD at the satellite end includes the UPD of each satellite, and the UPD at the receiver end includes the UPD of each receiver.

[0035] The marking module is used to calculate the UPD residual of each satellite at the satellite end based on the UPD at the satellite end and the UPD at the receiver end, and to mark each satellite according to the UPD residual, marking all satellites at the satellite end as normal satellites and abnormal satellites.

[0036] The solution module is used to fix the wide-lane ambiguity and narrow-lane ambiguity of normal satellites and add constraints to obtain the clock error solution of normal satellites. For abnormal satellites, no ambiguity fixing is performed, and process noise of ambiguity parameters without ionospheric combination is added to obtain the clock error solution of abnormal satellites.

[0037] Thirdly, this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the real-time satellite clock bias processing method based on inter-station phase deviation consistency as described in the first aspect above.

[0038] Fourthly, this application provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the real-time satellite clock bias processing method based on inter-station phase deviation consistency as described in the first aspect above.

[0039] Fifthly, this application provides a chip, which includes a processor and a communication interface, the communication interface being coupled to the processor, and the processor being used to run programs or instructions to implement the real-time satellite clock bias processing method based on inter-station phase deviation consistency as described in the first aspect.

[0040] In a sixth aspect, this application provides a computer program product, including a computer program that, when executed by a processor, implements the real-time satellite clock bias processing method based on inter-station phase deviation consistency as described in the first aspect above.

[0041] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application.

[0042] The present invention provides a real-time satellite clock bias processing method based on inter-station phase deviation consistency, which has the following advantages over the prior art:

[0043] (1) This invention estimates clock bias and ambiguity parameters in real time by constructing an ionospheric-free combined observation equation by fusing data from multiple systems. It combines system constraint equations and uses square root information filtering to efficiently solve parameters to obtain floating-point solutions for ambiguity parameters and floating-point solutions for satellite clock bias parameters. Based on the floating-point solutions for ambiguity, it extracts UPD from the satellite end and the receiver end and calculates the satellite UPD residual. It marks the satellites by using the UPD residual and formulates a strategy to fix the ambiguity of normal satellites while maintaining floating-point solutions for abnormal satellites. This realizes real-time identification and differentiated processing of satellite status in complex multi-system environments, improves the real-time accuracy of normal satellite clock bias solutions and the availability of abnormal satellite clock bias solutions. By using UPD consistency as an evaluation index, it improves the accuracy, reliability and robustness of large-scale GNSS real-time clock bias estimation, which can effectively improve the robustness and service accuracy of satellite clock bias estimation. It is suitable for situations where the observation quality of some satellites is poor. Attached Figure Description

[0044] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0045] Figure 1 This is one of the flowcharts illustrating the real-time satellite clock bias processing method based on inter-station phase deviation consistency provided in this application embodiment;

[0046] Figure 2 This is the second flowchart of the real-time satellite clock error processing method based on inter-station phase deviation consistency provided in the embodiments of this application;

[0047] Figure 3 This is a UPD residual distribution diagram of normal and abnormal satellites provided in the embodiments of this application;

[0048] Figure 4 This is a distribution map of clock bias estimation results for anomalous satellites provided in the embodiments of this application;

[0049] Figure 5 This is a schematic diagram of the structure of the real-time satellite clock error processing system based on inter-station phase deviation consistency provided in the embodiments of this application;

[0050] Figure 6 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0051] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0052] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0053] The following description, in conjunction with the accompanying drawings, details the real-time satellite clock bias processing method based on inter-station phase deviation consistency, the real-time satellite clock bias processing system based on inter-station phase deviation consistency, the electronic equipment, and the readable storage medium provided in this application, through specific embodiments and application scenarios.

[0054] Among them, the real-time satellite clock bias processing method based on the consistency of inter-station phase deviation can be applied to the terminal, specifically executed by the hardware or software in the terminal.

[0055] The terminal includes, but is not limited to, portable communication devices such as mobile phones or tablets with touch-sensitive surfaces (e.g., touchscreen displays and / or touchpads). It should also be understood that, in some embodiments, the terminal may not be a portable communication device, but rather a desktop computer with touch-sensitive surfaces (e.g., touchscreen displays and / or touchpads).

[0056] The following embodiments describe a terminal including a display and a touch-sensitive surface. However, it should be understood that the terminal may include one or more other physical user interface devices such as a physical keyboard, mouse, and joystick.

[0057] The real-time satellite clock bias processing method based on inter-station phase deviation consistency provided in this application embodiment can be executed by an electronic device or a functional module or entity within an electronic device capable of implementing the real-time satellite clock bias processing method based on inter-station phase deviation consistency. The electronic devices mentioned in this application embodiment include, but are not limited to, mobile phones, tablets, computers, cameras, and wearable devices. The following description uses an electronic device as the execution subject to illustrate the real-time satellite clock bias processing method based on inter-station phase deviation consistency provided in this application embodiment.

[0058] Figure 1 This is one of the flowcharts illustrating the real-time satellite clock bias processing method based on inter-station phase deviation consistency provided in this application embodiment, such as... Figure 1As shown, the real-time satellite clock error processing method based on inter-station phase deviation consistency includes steps 110, 120, 130, 140, and 150.

[0059] Step 110: Construct an ionospherically-free combined observation equation based on data from multiple satellite positioning systems, and establish constraint equations for each system respectively;

[0060] It is easy to understand that before real-time data processing, GPS (Global Positioning System), BDS (BeiDou Navigation Satellite System), Galileo (Galileo Navigation System), and GLONASS (Global Navigation Satellite System) preload basic data such as satellite predicted orbit products, satellite DCB (Differential Code Bias) products, antenna phase center correction files, table files, and reference station coordinate files, and establish a dynamic update mechanism to regularly check and ensure that all types of products and table files are kept to the latest version.

[0061] After real-time data processing is initiated, each system accesses the GNSS observation data stream and GNSS broadcast ephemeris data from regional or global reference stations via network communication modules. In practice, observation data can be collected from the global or target area, i.e., calculations can be performed on the global or partial areas.

[0062] After obtaining the raw data, each system performs multi-level data preprocessing. First, a combination of MW (Melbourne-Wübbena) and GF (Geometry-free) combinations is used for gross error detection and cycle slip detection. The MW combination linearly combines dual-frequency pseudorange and carrier phase observations, eliminating the effects of atmospheric delay, clock bias, and geometric distance, making it suitable for cycle slip detection of non-differenced observations. The GF combination eliminates geometric distance, clock bias, and tropospheric delay, while preserving hardware delay, ionospheric delay, observation noise, and ambiguity. Ionospheric delay and hardware delay change slowly with epochs; cycle slips can be accurately detected by setting thresholds. Let the inter-epoch differential test quantity be... If no cycle slip occurs, Only observation noise remains; if a cycle slip occurs, The distance residuals resulting from the ambiguity difference were added.

[0063] After data preprocessing, an ionospheric-free combined observation equation is constructed, and ambiguity, satellite clock error, receiver clock error, and initial value of tropospheric wet delay are calculated using pseudorange single-point positioning to obtain clock error parameters and ambiguity parameters.

[0064] An ionospheric-free combined observation equation was constructed based on data from GPS, BDS, Galileo, and GLONASS. The calculation formula is shown below:

[0065]

[0066] in, For the receiver, For satellites, It is an ionosphere-free combination. For the ionospheric pseudorange between the receiver and the satellite, This refers to the phase combination observations between the receiver and the satellite. The geometric distance between the satellite and the receiver. At the speed of light, and These are receiver clock bias and satellite clock bias, respectively. For the zenith tropospheric delay of the observatory, This is the tropospheric projection function from the zenith to the oblique path. For wavelength, For satellite positioning systems, For ionosphere-free combined ambiguity, and These are the pseudorange hardware delays at the receiver and satellite ends, respectively. and These are the phase hardware delays at the receiver and satellite ends, respectively. and These are pseudorange and phase observation noise, respectively.

[0067] Based on the ionosphere-free combined observation equation, the initial values ​​of clock error parameters and ambiguity parameters are estimated in real time through pseudorange single-point positioning. The clock error parameters include satellite-end clock error parameters and receiver-end clock error parameters.

[0068] Furthermore, based on the ionospherically-free combined observation equations, it is assumed that the satellite-end clock bias parameters and the receiver-end clock bias parameters are tightly coupled. Therefore, constraint equations are added for the four systems: GPS, BDS, Galileo, and GLONASS, as shown below:

[0069]

[0070] Where s represents the number of satellites, and j represents the number of satellites. This is the satellite clock bias correction value.

[0071] Step 120: Based on the ionosphere-free combined observation equation and constraint equation, square root information filtering is used to solve the ambiguity parameters of the clock error parameter and the ionosphere-free combination, to obtain the floating-point solution of the ambiguity parameter and the floating-point solution of the satellite-end clock error parameter. The floating-point solution of the ambiguity parameter includes the wide-lane ambiguity parameter floating-point solution and the narrow-lane ambiguity parameter floating-point solution.

[0072] In some embodiments, the step of using square root information filtering to solve for clock error parameters and ambiguity parameters of the ionosphere-free combined observation equation and constraint equation, based on the ionosphere-free combined observation equation and constraint equation, to obtain floating-point solutions for ambiguity parameters and satellite-end clock error parameters, includes:

[0073] Based on the ionosphere-free combined observation equation and constraint equation, the clock error parameter and the ambiguity parameter of the ionosphere-free combination are solved by filter time update, normal equation establishment, filter measurement update, and parameter value update, so as to obtain the floating-point solution of the ambiguity parameter and the floating-point solution of the satellite-end clock error parameter.

[0074] It is easy to understand that by combining the observation equations and constraint equations, and using SRIF (Square Root Information Filter) to solve the parameters, floating-point solutions for the ambiguity parameters and satellite clock bias parameters without ionosphere are obtained. Among them, the floating-point solution for the ambiguity parameters without ionosphere can be used to extract the UPD (Uncalibrated phase delay) of all satellites and receivers.

[0075] Step 130: Extract the UPD at the satellite end and the UPD at the receiver end based on the floating-point solution of the wide-lane ambiguity parameter and the floating-point solution of the narrow-lane ambiguity parameter. The UPD at the satellite end includes the UPD of each satellite, and the UPD at the receiver end includes the UPD of each receiver.

[0076] In some embodiments, the extraction of the UPD at the satellite end and the UPD at the receiver end based on the floating-point solution of the wide-lane ambiguity parameter and the floating-point solution of the narrow-lane ambiguity parameter includes:

[0077] Based on the floating-point solutions of the wide-lane ambiguity parameters and the narrow-lane ambiguity parameters, an additional benchmark is set, and the sum of the UPDs of all satellites in the satellite end is set to 0. The UPDs of the satellite end and the receiver end are solved iteratively.

[0078] It should be noted that, in order to restore the integer characteristics of the ambiguity parameters, the ambiguity parameters are decomposed into wide-lane ambiguity and narrow-lane ambiguity. The wide-lane ambiguity can be determined through the MW combination, and the narrow-lane ambiguity can be calculated by combining the floating-point solution of the ambiguity parameters from the ionosphere-free combination. It should be noted that, due to the influence of UPD at the satellite end and receiver end, the decomposed ambiguity still does not possess integer characteristics. The calculation formulas for wide-lane ambiguity and narrow-lane ambiguity are as follows:

[0079]

[0080] in, and These are the integer cycles of the wide-lane ambiguity and the narrow-lane ambiguity of the satellite, respectively. For receiver number, , and These are the floating-point solutions for wide-lane ambiguity, narrow-lane ambiguity, and ionosphere-free ambiguity, respectively. and These are the frequencies of the first and second observations, respectively. and These are the wide-lane UPD and narrow-lane UPD at the receiver end, respectively. and These are the wide-lane phase hardware delay and the narrow-lane phase hardware delay at the satellite end, respectively.

[0081] The floating-point solution of the ambiguity is obtained using the wide-lane ambiguity and the narrow-lane ambiguity. The UPD at the receiver end and the satellite end is then calculated using the following formula:

[0082]

[0083] in, As a wildcard, it can represent either a wide alley or a narrow alley. and These are the satellite's floating-point ambiguity and integer ambiguity, respectively. For Kronecker products, and These represent the number of observations and the number of satellites, respectively. It is a unit vector of 1×m. It is an n×n identity matrix. For UPD at the satellite end, For the receiver-side UPD, A 1×n unit vector It is an m×m identity matrix.

[0084] and The calculation formula is as follows:

[0085]

[0086] To eliminate the rank deficiency in the above equation, an additional benchmark is introduced. The sum of the UPDs of all satellites is set to 0, and the UPDs are solved iteratively to obtain the UPDs at the satellite end and the UPDs at the receiver end.

[0087] In some embodiments, the iterative solution of the UPD at the satellite end and the UPD at the receiver end includes:

[0088] Based on the floating-point solutions of the wide-lane ambiguity parameters and the narrow-lane ambiguity parameters, the observation station with the most observed satellites is selected as the reference station. The UPD of the receiver of the reference station is set to 0. The fractional part of the floating-point solutions of the wide-lane ambiguity parameters and the narrow-lane ambiguity parameters is taken as the initial value of the satellite UPD in the observation station. Each observation station includes the receiver UPD and the satellite UPD.

[0089] The UPD of the receiver at the current observation station is obtained by iteratively extracting data from all observation stations in sequence. The UPD of the receiver at the current observation station is obtained based on the UPD of the satellite at the previous observation station, and the UPD of the satellite at the current observation station is obtained based on the UPD of the receiver at the current observation station.

[0090] The satellite average UPD is obtained by weighting the satellite UPD calculated for each observation station.

[0091] The average UPD of the satellite is calculated continuously until the average UPD of the satellites calculated in two consecutive calculations is less than a preset threshold. Then, the UPD at the satellite end and the UPD at the receiver end are extracted.

[0092] For example, iteratively solving for the UPD at the satellite end and the UPD at the receiver end includes the following steps:

[0093] (1) Calculate the non-differential ambiguity floating-point solution for all satellites and receivers, select the observation station with the most observed satellites as the reference, assume that the UPD of the receiver of the reference station is 0, and take the fractional part of the ambiguity floating-point solution as the initial value of the UPD of the observed satellites.

[0094] (2) For all observation stations, first obtain the receiver UPD of the current observation station based on the satellite UPD of the previous observation station, and then obtain the satellite UPD of the current observation station;

[0095] (3) The satellite average UPD is obtained by weighting the satellite UPD calculated for each observation station in (2);

[0096] (4) Repeat (2)-(3) until the average UPD of satellites calculated in two consecutive cycles is less than the preset threshold.

[0097] High-precision UPD estimates were obtained through network adjustment techniques, providing a foundation for subsequent consistency analysis.

[0098] Step 140: Based on the UPD at the satellite end and the UPD at the receiver end, calculate the UPD residual of each satellite at the satellite end, mark each satellite according to the UPD residual, and mark all satellites at the satellite end as normal satellites and abnormal satellites.

[0099] In some embodiments, the step of calculating the UPD residual for each satellite at the satellite end based on the UPD at the satellite end and the receiver end, and marking each satellite according to the UPD residual, marking all satellites at the satellite end as normal satellites and abnormal satellites, includes:

[0100] Based on the UPD at both the satellite and receiver ends, the UPD residual for each satellite is calculated using the following formula:

[0101]

[0102] in, and These are the wide-lane ambiguity floating-point solutions and narrow-lane ambiguity floating-point solutions for the satellite, respectively. For receiver number, and These are the integer cycles of the wide-lane ambiguity and the narrow-lane ambiguity of the satellite, respectively. and These are the wide lane UPD and narrow lane UPD at the satellite end, respectively, where 's' is the satellite number. and These are the wide-lane UPD and narrow-lane UPD at the receiver end, respectively. and These are the UPD residuals for the wide aisle and the UPD residuals for the narrow aisle, respectively. For wide lanes, It is a narrow alley;

[0103] By analyzing the distribution pattern of the UPD residuals of each satellite in the entire satellite network, satellites with residuals exceeding 3σ are marked as anomalous satellites, and the remaining satellites are normal satellites.

[0104] For example, each system performs statistical analysis on the UPD residuals of the observation stations corresponding to each satellite, calculates the standard deviation, and sets a dynamic detection threshold. When the UPD residual exceeds the composite threshold of 3σ + 0.05 weeks, it is marked as an abnormal satellite to avoid the risk of misjudgment under low observation numbers. By analyzing the distribution pattern of the UPD residuals of each satellite in the entire network, stations with residuals exceeding 3σ are marked to identify possible observation anomalies or satellite product quality problems, thereby ensuring the reliability of UPD estimation.

[0105] Step 150: Fix the wide-lane ambiguity and narrow-lane ambiguity for normal satellites and add constraints to obtain the clock error solution for normal satellites. Do not fix the ambiguity for abnormal satellites, but add process noise of ambiguity parameters without ionospheric combination to obtain the clock error solution for abnormal satellites.

[0106] In some embodiments, the step of fixing wide-lane and narrow-lane ambiguities of normal satellites and adding constraints to obtain the clock error solution of normal satellites includes:

[0107] Wide-lane ambiguity fixation and narrow-lane ambiguity fixation are performed on normal satellites to obtain integer ambiguities of normal satellites. Ambiguity fixation constraint equations are then applied, and clock bias solutions of normal satellites are obtained based on the integer ambiguities of normal satellites. The clock bias solutions of normal satellites are integer solutions.

[0108] After obtaining the labeling results for all satellites, a step-by-step processing strategy is adopted to re-estimate the satellite clock bias. For normal satellites, the UPD is corrected, ambiguity is fixed based on the success rate, and ambiguity fixing constraints are applied to improve the accuracy of clock bias estimation. The formula for calculating the success rate function is shown below:

[0109]

[0110] in, For ambiguity, a fixed probability is given. This represents the difference between the floating-point ambiguity and the corresponding integer ambiguity. and These are the ambiguity residual system deviation and standard deviation, respectively.

[0111] After fixing the ambiguity, integer ambiguity is obtained, and fixed constraints are applied to the filter to obtain the integer solution of the satellite clock error.

[0112] In some embodiments, the process of adding ambiguity parameter noise without ionospheric combination to obtain the clock error solution of the anomalous satellite without ambiguity fixation includes:

[0113] Instead of fixing the ambiguity of the anomalous satellite, process noise is introduced into the ambiguity parameters without ionospheric combination to obtain the ambiguity floating-point solution of the anomalous satellite. Based on the ambiguity floating-point solution of the anomalous satellite, the clock error solution of the anomalous satellite is obtained, and the clock error solution of the anomalous satellite is a floating-point solution.

[0114] For marked anomalous satellites, ambiguity fixing is not performed; instead, floating-point resolution is used, and process noise is introduced into the ambiguity parameters to reduce the impact of anomalous observations on clock error calculation. In the final processing stage, a differentiated parameter estimation strategy is implemented to re-filter and estimate satellite clock errors, generating real-time satellite clock error products conforming to the RTCM3 SSR standard, along with quality indicators such as UPD, residuals, and RMS. This provides reliable data support for applications such as PPP-RTK. This strategy effectively improves the robustness and accuracy of satellite clock error estimation, especially suitable for situations where some satellite observations are of poor quality.

[0115] Figure 2 This is the second flowchart illustrating the real-time satellite clock bias processing method based on inter-station phase deviation consistency provided in this application embodiment. Figure 2 As shown, GNSS observation equations are established using GNSS broadcast ephemeris data and regional / global ground tracking station observation data streams to estimate satellite clock bias floating-point solutions in real time, while simultaneously acquiring ambiguity parameters. Then, based on the network-wide floating-point ambiguity, uncorrected phase delay separation is performed at the receiver and satellite ends, and UPD residuals are calculated. Satellite product quality is marked according to the consistency of UPD residuals. Ambiguity is fixed for normal satellites, and ambiguity fixing constraints are added. The integer characteristics of ambiguity are restored for normal satellites through UPD correction. Abnormal satellites are processed according to floating-point solutions, and process noise is added to the ambiguity. Satellite clock bias is then re-filtered and estimated.

[0116] Figure 3 This is a UPD residual distribution map of normal and abnormal satellites provided in the embodiments of this application, such as... Figure 3 As shown, when using the real-time satellite clock error processing method based on inter-station phase deviation consistency for real-time satellite clock error estimation, the large orbital errors of anomalous satellites lead to poor consistency of UPD residuals among different stations. Real-time clock error estimation is performed using a global reference station network and the predicted orbits from Wuhan University. The UPD residual distributions of two selected satellites are shown in the figure. Figure 3 As shown. By statistically analyzing the UPD residuals, satellites with large UPD residuals are marked as anomalous satellites.

[0117] Figure 4 This is a distribution map of clock bias estimation results for anomalous satellites provided in the embodiments of this application, such as... Figure 4 As shown, after marking a satellite as an anomalous satellite, its ambiguity is not fixed, and ambiguity process noise is added to the satellite clock error estimation. Figure 4 The results of clock error estimation for anomalous satellites are presented. The average clock error of the traditional method is 0.795 nanoseconds, while the average clock error of the real-time satellite clock error processing method based on the consistency of inter-station phase deviation is 0.503 nanoseconds, which significantly reduces the clock error estimation error of anomalous satellites.

[0118] The real-time satellite clock bias processing method based on inter-station phase deviation consistency provided in this application's embodiments estimates clock bias and ambiguity parameters in real time by fusing multi-system data to construct an ionospherically-free combined observation equation. It then combines system constraint equations and employs square root information filtering for efficient parameter solving to obtain floating-point solutions for ambiguity parameters and satellite-end clock bias parameters. Based on the ambiguity floating-point solutions, it extracts the UPD (Unified Phase Deviation) at the satellite and receiver ends and calculates the satellite UPD residual. The satellite is then marked using the UPD residual, and a strategy is formulated to fix the ambiguity of normal satellites while maintaining floating-point solutions for abnormal satellites. This achieves real-time identification and differentiated processing of satellite states in complex multi-system environments, improving the real-time accuracy of normal satellite clock bias solutions and the availability of abnormal satellite clock bias solutions. By using UPD consistency as an evaluation index, it improves the accuracy, reliability, and robustness of large-scale GNSS real-time clock bias estimation, effectively enhancing the robustness and service accuracy of satellite clock bias estimation. This method is suitable for situations where some satellite observation quality is poor.

[0119] The real-time satellite clock bias processing method based on inter-station phase deviation consistency provided in this application can be executed by a real-time satellite clock bias processing system based on inter-station phase deviation consistency. This application example illustrates the real-time satellite clock bias processing system based on inter-station phase deviation consistency, using it as an example.

[0120] This application also provides a real-time satellite clock bias processing system based on inter-station phase deviation consistency, such as... Figure 5 As shown, the real-time satellite clock error processing system based on inter-station phase deviation consistency includes: a construction module 510, a solution module 520, an extraction module 530, a marking module 540, and a solution module 550.

[0121] Module 510 is used to construct ionospherically-free combined observation equations based on data from multiple satellite positioning systems, and to establish constraint equations for each system respectively;

[0122] The solution module 520 is used to solve the clock error parameters and ambiguity parameters of the ionosphere-free combined observation equation and constraint equation by using square root information filtering, and to obtain the floating-point solution of the ambiguity parameters and the floating-point solution of the satellite clock error parameters. The floating-point solution of the ambiguity parameters includes the wide-lane ambiguity parameter floating-point solution and the narrow-lane ambiguity parameter floating-point solution.

[0123] Extraction module 530 is used to extract the UPD at the satellite end and the UPD at the receiver end based on the floating-point solution of the wide-lane ambiguity parameter and the floating-point solution of the narrow-lane ambiguity parameter. The UPD at the satellite end includes the UPD of each satellite, and the UPD at the receiver end includes the UPD of each receiver.

[0124] The marking module 540 is used to calculate the UPD residual of each satellite at the satellite end based on the UPD at the satellite end and the UPD at the receiver end, and to mark each satellite according to the UPD residual, marking all satellites at the satellite end as normal satellites and abnormal satellites.

[0125] Solver module 550 is used to fix the wide-lane ambiguity and narrow-lane ambiguity of normal satellites and add constraints to obtain the clock error solution of normal satellites. For abnormal satellites, no ambiguity fixation is performed, and process noise of ambiguity parameters without ionospheric combination is added to obtain the clock error solution of abnormal satellites.

[0126] The satellite clock bias real-time processing system based on inter-station phase deviation consistency provided in this application embodiment can achieve... Figures 1 to 4 The various processes implemented in the embodiment of the satellite clock bias real-time processing method based on inter-station phase deviation consistency will not be described in detail here to avoid repetition.

[0127] In some embodiments, such as Figure 6 As shown, this application embodiment also provides an electronic device 600, including a processor 601, a memory 602, and a computer program stored in the memory 602 and executable on the processor 601. When the program is executed by the processor 601, it implements the various processes of the above-described real-time satellite clock bias processing method embodiment based on inter-station phase deviation consistency and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0128] It should be noted that the electronic devices in the embodiments of this application include the mobile electronic devices and non-mobile electronic devices described above.

[0129] This application also provides a non-transitory computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described real-time satellite clock bias processing method based on inter-station phase deviation consistency and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0130] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0131] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described real-time satellite clock bias processing method based on inter-station phase deviation consistency.

[0132] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0133] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled. The processor is used to run programs or instructions to implement the various processes of the above-described real-time satellite clock bias processing method embodiment based on inter-station phase deviation consistency, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0134] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0135] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element. Furthermore, it should be noted that the scope of the methods and systems in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0136] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the real-time satellite clock bias processing method based on inter-station phase deviation consistency of the various embodiments of this application.

[0137] In the description of this application, "first feature" and "second feature" may include one or more of the features.

[0138] In the description of this application, "multiple" means two or more.

[0139] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

[0140] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0141] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A real-time satellite clock bias processing method based on inter-station phase deviation consistency, characterized in that, The method includes: An ionospheric-free combined observation equation is constructed based on data from multiple satellite positioning systems, and constraint equations are established for each system. Based on the combined observation equations and constraint equations for the ionosphere-free environment, square root information filtering is used to determine the clock error parameters and the ionosphere-free environment. The ambiguity parameter solution of the layer combination is obtained to obtain the floating-point solution of the ambiguity parameter and the floating-point solution of the satellite clock error parameter. The floating-point solution of the ambiguity parameter includes the wide-lane ambiguity parameter floating-point solution and the narrow-lane ambiguity parameter floating-point solution. The UPD at the satellite end and the UPD at the receiver end are extracted based on the floating-point solution of the wide-lane ambiguity parameter and the floating-point solution of the narrow-lane ambiguity parameter. The UPD at the satellite end includes the UPD of each satellite, and the UPD at the receiver end includes the UPD of each receiver. Based on the UPD at the satellite end and the UPD at the receiver end, calculate the UPD residual of each satellite at the satellite end, and mark each satellite according to the UPD residual, marking all satellites at the satellite end as normal satellites and abnormal satellites. By fixing the wide-lane ambiguity and narrow-lane ambiguity of normal satellites and adding constraints, the clock error solution of normal satellites is obtained. For abnormal satellites, without fixing the ambiguity, process noise of ambiguity parameters without ionospheric combination is added to obtain the clock error solution of abnormal satellites.

2. The real-time satellite clock bias processing method based on inter-station phase deviation consistency according to claim 1, characterized in that, The method, based on the ionosphere-free combined observation equations and constraint equations, employs square root information filtering to solve for the clock error parameters and the ambiguity parameters of the ionosphere-free combination, obtaining floating-point solutions for the ambiguity parameters and satellite-end clock error parameters, including: Based on the ionosphere-free combined observation equation and constraint equation, the clock error parameter and the ambiguity parameter of the ionosphere-free combination are solved by filter time update, normal equation establishment, filter measurement update, and parameter value update, so as to obtain the floating-point solution of the ambiguity parameter and the floating-point solution of the satellite-end clock error parameter.

3. The real-time satellite clock bias processing method based on inter-station phase deviation consistency according to claim 1, characterized in that, The extraction of UPD at the satellite end and UPD at the receiver end based on the floating-point solution of wide-lane ambiguity parameters and the floating-point solution of narrow-lane ambiguity parameters includes: Based on the floating-point solutions of the wide-lane ambiguity parameters and the narrow-lane ambiguity parameters, an additional benchmark is set, and the sum of the UPDs of all satellites in the satellite end is set to 0. The UPDs of the satellite end and the receiver end are solved iteratively.

4. The real-time satellite clock bias processing method based on inter-station phase deviation consistency according to claim 3, characterized in that, The iterative solution of the UPD at the satellite end and the UPD at the receiver end includes: Based on the floating-point solutions of the wide-lane ambiguity parameters and the narrow-lane ambiguity parameters, the observation station with the most observed satellites is selected as the reference station. The UPD of the receiver of the reference station is set to 0. The fractional part of the floating-point solutions of the wide-lane ambiguity parameters and the narrow-lane ambiguity parameters is taken as the initial value of the satellite UPD in the observation station. Each observation station includes the receiver UPD and the satellite UPD. The UPD of the receiver at the current observation station is obtained by iteratively extracting data from all observation stations in sequence. The UPD of the receiver at the current observation station is obtained based on the UPD of the satellite at the previous observation station, and the UPD of the satellite at the current observation station is obtained based on the UPD of the receiver at the current observation station. The satellite average UPD is obtained by weighting the satellite UPD calculated for each observation station. The average UPD of the satellite is calculated continuously until the average UPD of the satellites calculated in two consecutive calculations is less than a preset threshold. Then, the UPD at the satellite end and the UPD at the receiver end are extracted.

5. The real-time satellite clock bias processing method based on inter-station phase deviation consistency according to claim 1, characterized in that, The UPD calculation based on the satellite end and receiver end calculates the UPD residual for each satellite at the satellite end, and marks each satellite according to the UPD residual, classifying all satellites at the satellite end as normal satellites and abnormal satellites, including: Based on the UPD at both the satellite and receiver ends, the UPD residual for each satellite is calculated using the following formula: in, and These are the wide-lane ambiguity floating-point solutions and narrow-lane ambiguity floating-point solutions for the satellite, respectively. For receiver number, and These are the integer cycles of the wide-lane ambiguity and the narrow-lane ambiguity of the satellite, respectively. and These are the wide lane UPD and narrow lane UPD at the satellite end, respectively, where 's' is the satellite number. and These are the wide-lane UPD and narrow-lane UPD at the receiver end, respectively. and These are the UPD residuals for the wide aisle and the UPD residuals for the narrow aisle, respectively. For wide lanes, It is a narrow alley; By analyzing the distribution pattern of the UPD residuals of each satellite in the entire satellite network, satellites with residuals exceeding 3σ are marked as anomalous satellites, and the remaining satellites are normal satellites.

6. The real-time satellite clock bias processing method based on inter-station phase deviation consistency according to claim 1, characterized in that, The process of fixing wide-lane and narrow-lane ambiguities of normal satellites and adding constraints to obtain the clock error solution for normal satellites includes: Wide-lane ambiguity fixation and narrow-lane ambiguity fixation are performed on normal satellites to obtain integer ambiguities of normal satellites. Ambiguity fixation constraint equations are then applied, and clock bias solutions of normal satellites are obtained based on the integer ambiguities of normal satellites. The clock bias solutions of normal satellites are integer solutions.

7. The real-time satellite clock bias processing method based on inter-station phase deviation consistency according to claim 1, characterized in that, The process of adding ambiguity parameter noise without ionospheric combination to the anomalous satellite without fixing the ambiguity includes obtaining the clock error solution of the anomalous satellite, which includes: Instead of fixing the ambiguity of the anomalous satellite, process noise is introduced into the ambiguity parameters without ionospheric combination to obtain the ambiguity floating-point solution of the anomalous satellite. Based on the ambiguity floating-point solution of the anomalous satellite, the clock error solution of the anomalous satellite is obtained, and the clock error solution of the anomalous satellite is a floating-point solution.

8. A real-time satellite clock bias processing system based on inter-station phase deviation consistency, implemented using the real-time satellite clock bias processing method based on inter-station phase deviation consistency as described in any one of claims 1 to 7, characterized in that, The system includes: The module is used to construct ionospherically-free combined observation equations based on data from multiple satellite positioning systems, and to establish constraint equations for each system separately. The solution module is used to solve the clock error parameters and ambiguity parameters of the ionosphere-free combined observation equation and constraint equation by using square root information filtering, and obtain the floating-point solution of the ambiguity parameters and the floating-point solution of the satellite clock error parameters. The floating-point solution of the ambiguity parameters includes the wide-lane ambiguity parameter floating solution and the narrow-lane ambiguity parameter floating solution. An extraction module is used to extract the UPD at the satellite end and the UPD at the receiver end based on the floating-point solution of the wide-lane ambiguity parameter and the floating-point solution of the narrow-lane ambiguity parameter. The UPD at the satellite end includes the UPD of each satellite, and the UPD at the receiver end includes the UPD of each receiver. The marking module is used to calculate the UPD residual of each satellite at the satellite end based on the UPD at the satellite end and the UPD at the receiver end, and to mark each satellite according to the UPD residual, marking all satellites at the satellite end as normal satellites and abnormal satellites. The solution module is used to fix the wide-lane ambiguity and narrow-lane ambiguity of normal satellites and add constraints to obtain the clock error solution of normal satellites. For abnormal satellites, no ambiguity fixing is performed, and process noise of ambiguity parameters without ionospheric combination is added to obtain the clock error solution of abnormal satellites.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the real-time satellite clock bias processing method based on inter-station phase deviation consistency as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the real-time satellite clock error processing method based on inter-station phase deviation consistency as described in any one of claims 1 to 7.

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