CN103363994A - Precise satellite orbit determination technology only based on radio carrier phase observation - Google Patents
Precise satellite orbit determination technology only based on radio carrier phase observation Download PDFInfo
- Publication number
- CN103363994A CN103363994A CN2012101078042A CN201210107804A CN103363994A CN 103363994 A CN103363994 A CN 103363994A CN 2012101078042 A CN2012101078042 A CN 2012101078042A CN 201210107804 A CN201210107804 A CN 201210107804A CN 103363994 A CN103363994 A CN 103363994A
- Authority
- CN
- China
- Prior art keywords
- carrier phase
- orbit determination
- orbit
- satellite
- data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a technical scheme of simultaneously and precisely tracking a plurality of space objects only based on carrier observation data of ground monitoring equipment driven by an atomic frequency standard for fulfilling the purposes of high-precision orbit determination of regional navigation satellites and precise passive tracking of non-cooperative space objects. The invention designs a parameter evaluation estimation scheme of precise orbit determination only based on carrier phase data and provides a novel carrier phase cycle slip detection and repair method. The method makes full use of priori orbit and prior atomic clock speed information and is suitable for static users. The method is applied to orbit determination processing of an MEO (Medium Earth Orbit) satellite of a COMPASS system and is only based on carrier phase data of 6 regional ground stations, the mean residual of arc length orbit determination results of three days is 0.18m, and the mutual differences of one-day-arc overlap orbit are 0. 61m and 8. 09m in radial direction and three-dimensional position respectively; the mean residual of laser comparison is 0.28m; the mean residual of forecast for 24 hours and laser alignment is 1.34m. Compared with that of the prior art, the orbit determination precision is improved by 1 order.
Description
Technical field
The present invention relates to the technical fields such as uranometry, satellite navigation, is the accurate passive tracking technology of non-collaborative space target especially.
Background technology
From eighties of last century artificial earth satellite fifties Heaven, determine that the position of satellite becomes a kind of primary demand of astronomer.Through the effort of decades, human development Doppler's observation, optical angle observation, distance observation, range rate observation
[1], the means such as VLBI observation realize determining satellite orbit.Up to the present, apart from observed quantity become realize to the orbit of artificial earth satellite follow the tracks of automaticity best, be most widely used, reliability is the highest, be convenient to a kind of technological means that modeling data is processed most
[2]The satellite orbit means of tracking of distance-based observed quantity also can be divided into laser ranging observation
[3,4], relay type is apart from observation
[5,6], reflective radar range finding observation, one-directional dummy is apart from observation and carrier phase observation
[7]Etc. several classes.For the initiative range measurement modes such as laser, relay type range finding, radar, the observation of one-directional dummy distance and carrier wave have the technology maturation of realization, operation expense low, realize robotization, round-the-clock observation fully, and can be simultaneously to the advantages such as realization passive measurement tracking of a plurality of extraterrestrial targets.
The general application employing that only has the hi-Fix demand at Navsat, Gravity Satellite, reconnaissance satellite etc. of artificial earth satellite precise orbit determination technology based on the carrier phase observed quantity.Carrier phase observation has high-precision characteristics, but also has the problems such as cycle slip, carrier phase ambiguity, and the data treatment technology is had relatively high expectations.With present the most ripe satellite navigation system data process, international IGS data are treated to example, the carrier phase observation data generally only is used for smoothing pseudo range or processes at precise orbit determination its blur level, cycle slip are accurately estimated in multifrequency pseudorange carrier wave associating orbit determination equation as solve for parameter.Since GNSS Navsat observation be subjected to many factors to affect carrier phase data cycle slip still more frequent, once the complete full constellation multifrequency of global GPS pseudorange carrier wave joint observation data is processed often needs accurately to estimate hundreds and thousands of carrier cycle slip estimated parameters.The carrier phase observation data never independently realizes satellite precise orbit determination as observational data separately.
Along with the quickening that the mankind enter the space paces, the space militarization degree is constantly deepened, and the form of war of air and space operation is climbed up the human history stage gradually.The core missions of air and space operation comprise Space Target Surveillance, counter space operation
[8]Along with the continuous enhancing of military aerospace big country Space Military consciousness, in the rail military target all or the technological means that will adopt various restriction enemies to follow the tracks of.For example, the GPS of America Navsat will stop the civilian ranging code signal of broadcast table in wartime, and military ranging code signal only has authorized user to use, and other users can't realize pseudorange observation, can't realize navigational guidance, say nothing of the accurate tracking to satellite.Generally speaking, can't obtain directly apart from observed quantity non-cooperation military target, also be difficult to realize pseudorange observation by the ranging code of its encryption.Adopt other initiatively observed patterns, range finding is followed the tracks of such as Active Radar, and the tracking target number is limited on the one hand, exposes easily on the other hand tracking station's target, and causes easily air target to disturb and cause diplomatic dispute.
In addition, an outstanding problem facing of China development satellite navigation system is global, the ground observing and controlling of demand for services and the regionality of operational management.Particularly for mobile-satellite, in the urgent need to exploitation only based on the precise orbit determination new technology of area monitoring network, so that the technical merit of mobile-satellite precise orbit determination solves other for example GPS, Galileo system levels.
Summary of the invention
Satellite and ground must be set up link by radio and contact, no matter whether the support of ranging code is arranged, just have by the radio signal of setting up link to obtain the carrier phase observational data.For this reason, the present invention only proposes first to be characterized in need not to launch ground signal based on the satellite precise orbit determination technology of carrier phase observational data that ground is passive reception satellite radio signal, can realize the hidden watch-keeping to a plurality of targets in space; Need not the extraterrestrial target radio signal information and decode or the ranging code mandate, can carry out tracking observation to all satellites; Technique has the high precision characteristics, only just can obtain the tracking accuracy of meter level based on China's native country area monitoring network, substantially can satisfy all users to the demand of spatial object tracking precision.This technology is applied to the Chinese satellite positioning system SDI, can obtain with present gps system based on the consistent precise orbit determination precision level of global observation data.
The technical solution adopted for the present invention to solve the technical problems is:
1) adopt " O-C " method to solve tracking target carrier phase observation data cycle slip problem.
The carrier phase observation data has high-precision characteristics, but because a variety of causes, cycle slip is inevitable.Mainly the methods such as, wavelet transformation poor by fitting of a polynomial, high order group, Kalman filtering, robust M-estimator are processed Ionosphere Residual Error to existing detection and reparation for cycle slips technology, the observed quantity of pseudorange phase combination realizes.
This paper proposes the ground monitoring station and adopts atomic frequency standard to drive, can be with Detection of Cycle-slip and the method for renovation of " the O-C method " of this paper invention.The method is to adopt priori track, priori clock rate (frequency accuracy) information deduction to organize track change information, clock correction change information in the poor carrier phase data between epoch in essence, surplus has mainly comprised the change informations such as atmosphere delay, phase observations stochastic error, under normal circumstances less than 1cm/s.Even before and after solar flare breaks out by force, the maximum sudden change amount of the ionosphere delay on the navigation satellite signal travel path that several seconds levels caused in the time is less than 1mm; In second level time scale, the troposphere refraction delay Sudden Changing Rate is less
[9], therefore when utilizing " O-C method " to repair high rate observation data carrier phase cycle slip, can ignore the impact of atmosphere delay sudden change.
Of particular note, because other satellite navigation system ground monitoring receivers such as GPS adopt the crystal oscillator clock, receiver " clock jumping " phenomenon can appear frequently in observation process; But the present invention proposes all ground receivers and adopts atomic clock, so in the monitoring receiver observation process, above-mentioned situation can not occur.So under normal circumstances, when utilizing " O-C method " to repair cycle slip, also can ignore the impact of " clock jumping ".
2) adopt minute segmental arc blur level solve for parameter and star ground to make up clock correction and be offset the combined influence that solve for parameter absorbs carrier phase ambiguity and satellite clock, ground monitoring station clock correction
The impact that passive type nonreciprocal observation distance is received satellite clock correction and ground receiver clock correction inevitably, many researchers think that the key of Navsat precise orbit determination is exactly the clock correction disposal route
[1,3,4], comprise the variable quantity of above-mentioned clock correction in the impact of initial epoch of clock correction and the observation process.
This paper is because only based on carrier phase observation, the clock bias estimation problem of avoiding is only relevant the bluring all as solve for parameter of carrier phase.Set up simultaneously star ground combination clock correction variation model and be absorbed in observation process culminant star clock, the drift of ground clock to the impact of observational data.
Description of drawings
Below in conjunction with accompanying drawing the present invention is further detailed.
Fig. 1 is " O-C " Detection of Cycle-slip and restorative procedure processing flow chart.
Embodiment
1) " O-C " method carrier phase Detection of Cycle-slip algorithm
The priori track can adopt orbit determination result's last time extrapolation track or the track (the myriametre class precision gets final product) that additive method obtains; Combination clock rate in priori star ground can adopt the clock rate result of pseudorange orbit determination or previous orbit determination.Taking full advantage of above-mentioned satellite navigation system carrier phase cycle slip least unit when finding the solution all jumping figures was 0.5 week, the characteristic of about 10cm (least unit of carrier phase cycle slip needs to determine according to concrete Receiver Design principle).Under the data sampling frequency of 1Hz, even the priori clock rate has 10
-11Error (this requires very low to the atomic clock receiver, general atom medium frequency accuracy reaches 10 at least
-13), consider the slowly varying behavior of the factors such as track, atmosphere, the time series variation amount that O-C organizes after poor and the deduction clock rate epoch should be less than 1cm/s, and that 0.5 cycle slip (about 10cm) occurs is enough for surveying for this.Divided by 0.5 wavelength, and reduction is near its integer with changing value.It is exactly all jumping figures that this frequency carrier wave occurs that round values multiply by 0.5.
Because said method has high Detection of Cycle-slip and repairs success ratio and reliability, based on the technology of the present invention, can change in traditional precise orbit determination treatment technology the processing mode of cycle slip as solve for parameter, directly the observation data of repairing cycle slip is used for accurately estimating model and motion state in the satellite, has greatly simplified precise orbit determination data processing technique difficulty, the data-handling efficiency of raising and definite precision of satellite precise orbit.
2) blur level and clock bias model parameter estimation
Because effectively the observational data limited amount resolves satellite, ground receiver clock correction one by one epoch.But can utilize the separable characteristics of satellite orbit and clock correction, the change procedure of combination clock correction in star ground in each observation segmental arc set up a simple model, estimate limited " clock correction " parameter.Select suitable model according to the performance of satellite clock and ground receiver clock correction, for example during star ground atomic clock poor-performing, minute segmental arc is estimated the a0 that carrier phase ambiguity is relevant, and minute segmental arc estimates that star ground makes up clock correction linear change item a1; When star ground atomic clock better performances, can divide segmental arc to estimate the a0 that carrier phase ambiguity is relevant, the full arc section is unified estimates that star ground makes up clock correction linear change item a1, secondary change item a2.
3) measured data checking
We select one to do experiment at the COMPASS of rail navigational system MEO Satellite Observations, and this experiment star track ground mark repetition period is 7 days 13 circles.Its ground monitoring station comprises Beijing, Suiyang, Urumchi, Ningbo, Kuerle, 6 stations, Zhanjiang, and all receivers adopt rubidium clock, do not realize time synchronized between standing, data acquisition frequency 1Hz.Experimental session has the Changchun laser observation data of this satellite, as the standard of outside comparison.The pseudorange observation data of laser observation data itself, all monitoring stations does not participate in the orbit determination data and processes, and only carries out the precise orbit determination data based on the carrier phase observation data and processes.
Be intended for the trajectory accuracy requirement of 1m, adopt the impact of considering 10 * 10 rank gravity fields, the variation of the solid tide first kind, lunisolar attraction, solar radiation perturbation, perturbation of relativistic effect.When resolving satellite orbit, each survey station minute segmental arc is estimated one group of a0, the a1 parameter, and the full arc section is estimated the reflection coefficient of satellite original state and a spherical optical pressure model.It is 3 days that precise orbit determination is processed arc length.
The orbit determination data process the carrier phase adopted two downstream frequency signals of this star without ionosphere LC combination observation amount.Do not adopt real-time meteorological measuring, only when the data pre-service, adopted one group of humidity, temperature, air pressure constant.The experimental result statistics is such as following table.
The precision of table 1 SDI precise orbit determination
| Time | The orbit determination residual error | Overlapping segmental arc (radially, position) | The laser comparison | Forecast precision | Remarks |
| 07.2.27 | 0.17 | 0.82，12.74 | 0.56 | The Urumchi Station loss of data | |
| 07.2.28 | 0.17 | 0.75，7.86 | |||
| 07.2.29 | 0.21 | 0.31，3.15 | 0.09 | 2.07 | According to 26/27/28 orbit prediction |
| 07.3.1 | 0.20 | 0.39，4.11 | 0.42 | 0.78 | According to 27/28/29 Orbit Determination and Orbit Forecast |
| 07.3.2 | 0.19 | 0.70，9.39 | 0.18 | 0.52 | According to 28/29/01 Orbit Determination and Orbit Forecast |
| 07.3.3 | 0.17 | 1.03，11.82 | 0.39 | 2.47 | According to 29/01/02 Orbit Determination and Orbit Forecast |
| 07.3.4 | 0.19 | 0.28，7.58 | 0.15 | 0.85 | According to 03/04/05 Orbit Determination and Orbit Forecast to 6 day |
| On average | 0.18 | 0.61，8.09 | 0.28 | 1.34 |
The above-mentioned experimental result of this paper is compared to the achievement in research of document 1, single star precise orbit determination precision has improved a magnitude, and adopting global laser observation data and pseudo range data to unite with document 2,3 determines that GPS35 is suitable with GLONASS satellite orbit precision, is on close level with the spacing wave precision (URE) that present gps system is average 1.1 meters.
List of references:
1、Zhu Fu-ying，Hu Xiao-gong，Huang Yong.Orbit Determination for a single Navigation Satellite，Journal of Spacecraft TT&C Technology[J]，2007，26(4)：17-24.
2、Jerome R.Vetter.Fifty years of Orbit Determination：Development of Modem Astrodynamics Methods.JOHNS HOPKINGS APL TECHNICAL DIGEST，VOLUME 27，NUMBER 3，2007
3、Qin Xian-ping，Yang Yuan-xi，Wang Gang.GLONASS orbit determination by Using SLR Data，Geometics and Information Science of Wuhan University[J]，2003，28(4)：440-444.
4、Qin Xian-pin，Yang Yuan-xi，Jiao Wen-hai.Combined Determination of Satellite Orbit Using SLR and Pseudorange Data.Geomatics and Infonnation Science ofWuhan University[J]，2003，28(6)：745-750.
5, Li Zhigang, Yang Xuhai, Li Weichao. relay type satellite Orbit determination [J], temporal frequency journal.2006，29(2)：81-89.
6, Li Zhigang, Yang Xuhai, it is vertical to execute waterside. and relay type satellite orbit determination new method [J], Chinese science G collects physics mechanics uranology, 2008,38 (12): 1711-1722.
7、ZHAO Qi-le，Research on Precision Orbit Determination Theory and Software of both GPS Navigation Constellation and LEO Satellites[D]，the Ph.D Dissertation of Wuhan University，October 2003
8, chapter is tall and erect. and U.S. 400 satellites are forcibly occupied space [J]. News of the World, 2005,1215 (96): 24.
9、SHEN Wei，YUAN Zhi-gang，DENG Xia-hua etc.Analysis of the Ionosphere Response to the Solar Flare by GPS Observation.J.Wuhan Univ.(Nat.Sci.Ed.)[J]，2006，52(3)：375-379。
Claims (3)
1. a cover is high-precision only based on the precise orbit determination processing scheme of satellite carrier phase observations data, comprise " O-C " method carrier phase Detection of Cycle-slip and repair algorithm, only based on data usage policy and the parameter estimation scheme of carrier phase precise orbit determination.
According to claim 1 " O-C " method carrier phase Detection of Cycle-slip with repair algorithm, it is characterized in that utilizing satellite orbit that priori orbit information, priori star ground combination clock rate (frequency accuracy) information deduction carrier phase contained in single poor observed quantity between epoch to change impact on the carrier wave observed quantity, the variation of star ground combination clock correction to the impact of carrier wave observed quantity, then carrier phase between epoch single poor observed reading variable quantity mainly be subjected to the impact of propagation medium delay variation, observation noise, be generally less than 1cm/s.The information in recycling carrier phase cycle slip about 0.5 week of least unit (navigational system is converted to the about 10cm of distance) can accurate detection carrier phase cycle slip occur, and accurately repairs.Be carrier phase between epoch single difference variable quantity obtain a reasonable numerical value divided by half-wavelength, and get apart from the reparation amount of the nearest integer of this reasonable numerical value as cycle slip.
According to claim 1 only based on data usage policy in the precise orbit determination of carrier phase and parameter estimation scheme, it is characterized in that the carrier phase observed quantity is only used in the observed quantity of precise orbit determination, do not use other any observed quantities; The observed quantity cycle slip is accurately repaired at data preprocessing phase, rather than finds the solution as solve for parameter as traditional precise orbit determination Data processing; The parameter of estimating in the precise orbit determination is: each segmental arc is estimated a constant value relevant with carrier phase ambiguity, the clock correction parameter that replaces traditional precise orbit determination Data processing to estimate.Other parameter estimation schemes and traditional precise orbit determination data processing parameter estimation scheme are similar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101078042A CN103363994A (en) | 2012-04-09 | 2012-04-09 | Precise satellite orbit determination technology only based on radio carrier phase observation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101078042A CN103363994A (en) | 2012-04-09 | 2012-04-09 | Precise satellite orbit determination technology only based on radio carrier phase observation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103363994A true CN103363994A (en) | 2013-10-23 |
Family
ID=49365868
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012101078042A Pending CN103363994A (en) | 2012-04-09 | 2012-04-09 | Precise satellite orbit determination technology only based on radio carrier phase observation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103363994A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104309817A (en) * | 2014-10-11 | 2015-01-28 | 中国科学院国家授时中心 | Multiple parallel address receiver-based Beidou navigation satellite region orbit determination method |
| CN104796142A (en) * | 2014-01-15 | 2015-07-22 | 波音公司 | Multi-level/multi-threshold/multi-persistency GPS/GNSS atomic clock monitoring |
| CN106802153A (en) * | 2017-01-24 | 2017-06-06 | 上海卫星工程研究所 | The high-precision measuring rail method of original observed quantity floor treatment of being navigated based on single-frequency |
| CN108955729A (en) * | 2018-09-05 | 2018-12-07 | 上海微小卫星工程中心 | The test method of dynamic satellite network Satellite autonomous orbit determination and time synchronization |
| CN109506630A (en) * | 2018-11-02 | 2019-03-22 | 北京空间飞行器总体设计部 | A kind of initial orbit of very short arc high frequency only angular observation determines method |
| CN110031881A (en) * | 2019-05-06 | 2019-07-19 | 中国人民解放军61540部队 | The method of laser ranging auxiliary Static Precise Point Positioning between high precision star |
| CN110568466A (en) * | 2019-08-19 | 2019-12-13 | 北京自动化控制设备研究所 | Reference station observed quantity calculation method and carrier phase differential positioning information acquisition method |
| CN111142127A (en) * | 2018-11-02 | 2020-05-12 | 千寻位置网络有限公司 | Cycle slip detection method and device |
| CN111487659A (en) * | 2019-01-28 | 2020-08-04 | 广州市中海达测绘仪器有限公司 | State recognition method and device, computer equipment and storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101403790A (en) * | 2008-11-13 | 2009-04-08 | 浙江师范大学 | Accurate one-point positioning method for single-frequency GPS receiver |
| CN101702030A (en) * | 2009-10-29 | 2010-05-05 | 中国科学院国家授时中心 | Precise orbit determination method of navigation satellite for assisting clock error between stations |
| CN102096084A (en) * | 2010-12-09 | 2011-06-15 | 东南大学 | Precise point positioning (PPP) method based on inter-satellite combination difference |
| CN102116867A (en) * | 2009-12-30 | 2011-07-06 | 中国科学院微电子研究所 | Method for detecting and repairing GPS carrier phase cycle slip in dynamic environment |
-
2012
- 2012-04-09 CN CN2012101078042A patent/CN103363994A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101403790A (en) * | 2008-11-13 | 2009-04-08 | 浙江师范大学 | Accurate one-point positioning method for single-frequency GPS receiver |
| CN101702030A (en) * | 2009-10-29 | 2010-05-05 | 中国科学院国家授时中心 | Precise orbit determination method of navigation satellite for assisting clock error between stations |
| CN102116867A (en) * | 2009-12-30 | 2011-07-06 | 中国科学院微电子研究所 | Method for detecting and repairing GPS carrier phase cycle slip in dynamic environment |
| CN102096084A (en) * | 2010-12-09 | 2011-06-15 | 东南大学 | Precise point positioning (PPP) method based on inter-satellite combination difference |
Non-Patent Citations (4)
| Title |
|---|
| 周建华等: "GEO导航卫星多种观测资料联合精密定轨", 《中国科学》 * |
| 李建文等: "单颗导航卫星精密定轨与激光精度评估", 《武汉大学学报信息科学版》 * |
| 陈刘成等: "区域卫星导航***GEO卫星定轨观测模型", 《武汉大学学报信息科学版》 * |
| 陈刘成等: "单颗导航卫星载波相位定轨", 《测绘通报》 * |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104796142A (en) * | 2014-01-15 | 2015-07-22 | 波音公司 | Multi-level/multi-threshold/multi-persistency GPS/GNSS atomic clock monitoring |
| CN104796142B (en) * | 2014-01-15 | 2019-04-12 | 波音公司 | Multistage/multi-threshold/mostly persistent GPS/GNSS atomic clock monitoring |
| CN104309817A (en) * | 2014-10-11 | 2015-01-28 | 中国科学院国家授时中心 | Multiple parallel address receiver-based Beidou navigation satellite region orbit determination method |
| CN106802153B (en) * | 2017-01-24 | 2019-09-17 | 上海卫星工程研究所 | It is navigated the high-precision measuring rail method of original observed quantity floor treatment based on single-frequency |
| CN106802153A (en) * | 2017-01-24 | 2017-06-06 | 上海卫星工程研究所 | The high-precision measuring rail method of original observed quantity floor treatment of being navigated based on single-frequency |
| CN108955729A (en) * | 2018-09-05 | 2018-12-07 | 上海微小卫星工程中心 | The test method of dynamic satellite network Satellite autonomous orbit determination and time synchronization |
| CN111142127A (en) * | 2018-11-02 | 2020-05-12 | 千寻位置网络有限公司 | Cycle slip detection method and device |
| CN109506630A (en) * | 2018-11-02 | 2019-03-22 | 北京空间飞行器总体设计部 | A kind of initial orbit of very short arc high frequency only angular observation determines method |
| CN109506630B (en) * | 2018-11-02 | 2021-04-13 | 北京空间飞行器总体设计部 | Initial orbit determination method for very-short-arc high-frequency only-angle observation value |
| CN111487659A (en) * | 2019-01-28 | 2020-08-04 | 广州市中海达测绘仪器有限公司 | State recognition method and device, computer equipment and storage medium |
| CN110031881A (en) * | 2019-05-06 | 2019-07-19 | 中国人民解放军61540部队 | The method of laser ranging auxiliary Static Precise Point Positioning between high precision star |
| CN110568466A (en) * | 2019-08-19 | 2019-12-13 | 北京自动化控制设备研究所 | Reference station observed quantity calculation method and carrier phase differential positioning information acquisition method |
| CN110568466B (en) * | 2019-08-19 | 2021-09-14 | 北京自动化控制设备研究所 | Reference station observed quantity calculation method and carrier phase differential positioning information acquisition method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103363994A (en) | Precise satellite orbit determination technology only based on radio carrier phase observation | |
| CN107153209B (en) | A kind of low rail navigation satellite real-time accurate orbit determination method of short arc segments | |
| CN100397094C (en) | Time determination in satellite positioning system receivers and methods therefor | |
| Buist et al. | Overview of pulsar navigation: Past, present and future trends | |
| CN102253399B (en) | Doppler differential compensation velocity measurement method utilizing carrier phase central value | |
| CN104335069B (en) | Method and apparatus for determining position in GLONASS | |
| CN102033236A (en) | Position and speed combined estimation method for satellite navigation | |
| CN104316943A (en) | Pseudo distance and Doppler combination differential positioning system and pseudo distance and Doppler combination differential positioning method | |
| CN104483691A (en) | GNSS combined precise single-point positioning method | |
| CN103235321A (en) | GPS (global positioning system) pseudo-range positioning precision timing method | |
| CN110007326A (en) | A kind of dual-frequency ranging error parameter generation method for satellite-based augmentation system | |
| CN104483689A (en) | Determination method for BDS reference station three-frequency carrier phase whole cycle ambiguities | |
| Ning et al. | Single-frequency precise point positioning enhanced with multi-GNSS observations and global ionosphere maps | |
| Tolman et al. | Absolute precise kinematic positioning with GPS and GLONASS | |
| CN105510946A (en) | Quick resolving method for integer ambiguity of BDS satellite carrier phase | |
| Ferrão | Positioning with combined gps and glonass observations | |
| Bahadur | Real-time single-frequency precise positioning with Galileo satellites | |
| Liu et al. | Local‐area nanosecond‐accuracy time synchronisation based on GPS L1 observations | |
| Yang et al. | [Retracted] Autonomous Orbit Determination System of Navigation Satellite Based on Spaceborne GPS Technology | |
| CN114217332A (en) | Modeling method and system of GNSS precision positioning random model considering flicker index | |
| Noureldin et al. | Global Positioning System | |
| Dai | On GPS based attitude determination | |
| Khojasteh et al. | Introduction to global navigation satellite systems and its errors | |
| Bahrami | Getting back on the sidewalk: Doppler-aided autonomous positioning with single-frequency mass market receivers in urban areas | |
| Buist et al. | Principles and potential of pulsar navigation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20131023 |