CN112034697A - High-precision RDSS time service method - Google Patents
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Abstract
The invention discloses a high-precision RDSS time service method, which improves a calculation method of RDSS time service uplink time delay, is simple and effective, and greatly improves the time service precision; the same method can also be used for estimating the satellite position corresponding to the satellite forwarding time, or for estimating the downlink time delay. Through experimental analysis and verification, the time service method can improve the time service precision from 50ns of the current traditional RDSS time service receiver to about 10ns, overcomes the bottleneck of the RDSS time service precision, achieves breakthrough progress, and has great application potential and economic benefit.
Description
Technical Field
The invention belongs to the technical field of RDSS time service, and particularly relates to a high-precision RDSS time service method.
Background
RDSS (radio Determination Satellite service) provides positioning time service for more than 10 years, and is widely applied to the fields of communication, electric power, business and national defense construction, and the like, and the time service precision is 50 ns.
The RDSS time service working principle is as follows: different from the design of satellite navigation systems such as GPS based on the satellite-borne atomic clock time reference, the RDSS time reference adopts a ground-based high-precision atomic clock, and the design has higher time reference precision. In addition, the RDSS constellation uses GEO satellites to serve china and surrounding areas. The transmission path of the RDSS time service signal is transferred from the ground central station to the ground user through the satellite
(wherein, f)1And f3The radio wave frequency on the path from the central station to the satellite and from the satellite to the user is shown in detail in fig. 1), the central station informs the user of the time delay of the time mark signal on the transmission path from the central station to the user through the broadcast parameters, and the user completes time correction of the time service user according to the broadcast parameters and the system time.
The current RDSS time service receiver calculates the uplink time delay of the current time by using the integral point of the current time and the time delay from the central station to the satellite broadcasted at the moment of the previous integral point, and calculates the satellite position at the forwarding time by using the satellite position and the speed broadcasted at the integral point, so as to calculate the downlink time delay; on the basis, error correction such as atmospheric time delay, hardware zero value, earth rotation correction and the like is carried out, the time service precision is about 50ns, and the disadvantage of the existing time service precision is more obvious along with the improvement of the precision requirement of a user.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a high-precision RDSS timing method, which can greatly improve the timing precision of RDSS.
An RDSS time service method comprises the following steps:
step 1, obtaining an uplink time delay value from a central station to a satellite at the integral point moment, a satellite position at the integral point moment, a satellite speed and a time delay correction parameter;
s201: accumulating uplink delay values from the central station to the satellite broadcasted at the latest three integral points away from the current time in the step 1; assuming that the forwarding time of the current time service satellite is t time, the time t0, t1 and t2 are three integral points which are the latest time from the current time, the three time points are from new to distant from the current time, and the broadcast time delay values from the central station to the satellite are respectively CS0, CS1 and CS 2;
s202: and calculating the change speed Vcs of the uplink time delay according to the time delay values from the central station to the satellite corresponding to the latest three integral points in the S201:
Vcs0＝(CS0-CS1)/(t0-t1)＝(CS0-CS1)/dT
Vcs1＝(CS1-CS2)/(t1-t2)＝(CS1-CS2)/dT
wherein dT refers to the time interval of RDSS time service and broadcast;
s203: and estimating the acceleration of the uplink time delay according to the change speed Vcs of the uplink time delay from the central station to the satellite, which is estimated in the step S202:
Acs＝(Vcs0-Vcs1)/dT
s204: calculating an uplink time delay value CS when the satellite is transferred according to the change speed Vcs of the uplink time delay from the central station to the satellite estimated in S202 and the acceleration of the uplink time delay estimated in S203:
CS＝CS0+(Vcs0+Acs×dt)×dt
CS＝CS0+((CS0-CS1)/dT+(Vcs0-Vcs1)×dt/dT)×dt
CS＝CS0+((CS0-CS1)/dT+((CS0-CS1)/dT-(CS1-CS2)/dT)×dt/dT)×dt
CS＝CS0+(CS0-CS1)×dt/dT+(CS0+CS2-2CS1)×dt2/dT2
the dt-t 0 represents the time difference between the current time service satellite forwarding time t and the time t 0;
step 3, calculating downlink time delay from the satellite to the user;
and step 5, adding the uplink time delay obtained in the step 2, the downlink time delay obtained in the step 3 and the time delay correction value obtained in the step 4 to the RDSS time service signal transmitting time to finish corrected time service calculation.
Further, the step 3 of calculating the downlink time delay from the satellite to the user is as follows:
s301: accumulating the positions of the satellites broadcasted at the latest three integral points away from the current moment in the step 1; assuming that the forwarding time of the current time service satellite is t time, three integration point times t0, t1 and t2 which are the latest from the current time, the three integration point times are new and far away from the current time, and the broadcasted satellite positions at the integration point time are S0(Xs0, Ys0, Zx0), S1(Xs1, Ys1, Zx1), S2(Xs2, Ys2 and Zx2) respectively;
s302: estimating the satellite position at the current satellite forwarding time by using the estimation method similar to the step 2:
Xs＝Xs0+(Xs0-Xs1)×dt/dT+(Xs0+Xs2-2Xs1)×dt2/dT2
Ys＝Ys0+(Ys0-Ys1)×dt/dT+(Ys0+Ys2-2Ys1)×dt2/dT2
Zs＝Zs0+(Zs0-Zs1)×dt/dT+(Zs0+Zs2-2Zs1)×dt2/dT2
wherein dT refers to the time interval of RDSS time service and broadcast; dt is the time difference dt between the time t and the time t0, which is t-t 0;
s303: calculating the satellite-to-user time delay SU by using the St (Xs, Ys, Zs) of the satellite position at the satellite forwarding time estimated in S302 and the known point user position U (Xu, Yu, Zu):
SU＝[(Xs-Xu)2+(Ys-Yu)2+(Zs-Zu)2]1/2。
further, the step 3 of calculating the downlink time delay from the satellite to the user is as follows:
s311: accumulating the positions of the satellites broadcasted at the latest three integral points away from the current moment in the step 1; assuming that the forwarding time of the current time service satellite is t time, three integration point times t0, t1 and t2 which are the latest from the current time are provided, the three integration point times are new and far away from the current time, and the broadcasted satellite positions of the integration point time are S0(Xs0, Ys0, Zx0), S1(Xs1, Ys1, Zx1) and S2(Xs2, Ys2 and Zx2) respectively;
s312: calculating satellite-to-user time delays corresponding to t0, t1 and t2 integration point moments by using the positions of the satellites broadcast by the integration point in S311 and the known point user positions U (Xu, Yu, Zu):
SU0＝[(Xs0-Xu)2+(Ys0-Yu)2+(Zs0-Zu)2]1/2
SU1＝[(Xs1-Xu)2+(Ys1-Yu)2+(Zs1-Zu)2]1/2
SU2＝[(Xs2-Xu)2+(Ys2-Yu)2+(Zs2-Zu)2]1/2
s313: calculating the downlink time delay SU from the satellite to the user corresponding to the current satellite forwarding time by using the calculation method similar to the step 2:
SU＝SU0+(SU0-SU1)×dt/dT+(SU0+SU2-2SU1)×dt2/dT2
wherein dT refers to the time interval of RDSS time service and broadcast; dt is the time difference dt between t and t0, t-t 0.
Preferably, when the grant for beidou No. two, dT is 1 min.
Preferably, dT is 6s when the grant for beidou No. three.
The invention has the following beneficial effects:
the high-precision RDSS time service method improves a calculation method of RDSS time service uplink time delay, is simple and effective, and greatly improves the time service precision; the same method can also be used for estimating the satellite position corresponding to the satellite forwarding time, or for estimating the downlink time delay. Through experimental analysis and verification, the time service method can improve the time service precision from 50ns of the current traditional RDSS time service receiver to about 10ns (see figure 6), overcomes the bottleneck of the RDSS time service precision, achieves breakthrough progress, and has great application potential and economic benefit.
Drawings
FIG. 1 is a diagram of an RDSS time signal transmission path according to the present invention;
FIG. 2 is a flow chart of a high-precision RDSS time service method of the present invention;
FIG. 3 is a flow chart of solving the uplink time delay in the high-precision RDSS time service method of the present invention;
FIG. 4 is a flowchart of a downlink delay solving method in the high-precision RDSS time service method of the present invention;
FIG. 5 is a flow chart of a downlink delay solving method in the high-precision RDSS time service method of the invention;
FIG. 6 is a comparison graph of the time service error after the method of the present invention and the error result of the current method.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
In 10 years, although the traditional RDSS time service user machine meets the system index requirements, obvious periodic errors exist, the peak value is approximately within plus or minus 50ns, and breakthrough development is not realized. The laboratory is dedicated to research and development of the RDSS positioning time service technology for many years, and finally obtains breakthrough progress of the RDSS time service technology for 10 years through several times of analysis, research, evaluation and argumentation, and two improvement suggestions are provided in an authorized application number CN201510537516.4 'an improved high-precision RDSS time service method': firstly, researches find that Doppler frequency shift generated by GEO satellite motion has great influence on RDSS time service; secondly, the estimation of the satellite position by using the satellite velocity also brings great errors, and a new improvement strategy needs to be provided. On the basis, the invention further makes breakthrough progress through joint debugging test analysis of the system and the receiver: firstly, an algorithm for calculating uplink time delay of a traditional time service receiver is improved, and a simple uplink time delay calculation method is provided on the basis of the realization of the consideration of a hardware algorithm of the receiver; the second is to use a similar derivation algorithm for the derivation of the satellite position, or the derivation of the downlink delay from the satellite to the user.
In summary, research on the RDSS time service technology has not been interrupted in recent decades in China, and particularly, analysis on the RDSS time service periodic slow-varying error mainly focuses on the ionospheric delay error, tropospheric delay error, satellite ephemeris error, Sagnac effect caused by earth rotation, and receiver zero value, and relevant research reports are few, but the root cause of the RDSS time service periodic slow-varying error has not been found. Foreign related research is not available, because RDSS is a special characteristic of satellite navigation systems in China. On the basis of researching the RDSS positioning time service technology and application thereof for more than 10 years, the invention aims at the test analysis research of the RDSS time service improvement on respective Beijing, third generation and Kash test terminals through the joint test joint debugging of a system end and a receiver end, finally positions the time service slow-varying error reason through long-term data acquisition, test analysis, quality monitoring, improvement research and evaluation verification, and researches and discovers that the RDSS time service precision can be greatly improved by improving the calculation algorithm of the uplink time delay of the receiver end.
When the current traditional RDSS receiver calculates the uplink from a central station to a satellite, the uplink time delay of the current satellite forwarding time is calculated by using the uplink time delay CS0 and CS1 broadcast by two integral point times t0 and t1 which are nearest to the current satellite forwarding time t: suppose that the time difference dt between the time t of the time service satellite and the time t of the nearest integral point t0 is t-t0, and the uplink time delay CS from the central station to the satellite is CS0+ (Vcs0+ Acs × dt) × dt. With the periodic change of the satellite motion, a periodic gradual change error exists in the time service all the time; on the basis, through multiple research and demonstration, the invention provides a new improved algorithm, and the uplink time delay at the time t is calculated by utilizing the uplink time delay broadcasted at three integral points closest to the time t of the time service satellite forwarding: CS (CS) 0+ ((CS0-CS1)/dT + (Vcs0-Vcs1) x dT/dT) x dT, and through the verification of a time service test of three stations of Mitsui, Kashi and Beijing, the method can improve the time service precision of RDSS from 50ns of the current traditional receiver to about 10ns (see figure 6).
In view of this, the invention provides an improved high-precision RDSS time service method, which can greatly improve the RDSS time service precision.
A high-precision RDSS time service method is shown in FIG. 2, and comprises the following steps:
step 1, obtaining an uplink time delay value from a central station to a satellite at the integral point moment, a satellite position at the integral point moment, a satellite speed and a time delay correction parameter;
s201: accumulating uplink delay values from the central station to the satellite broadcasted at the latest three integral points away from the current time in the step 1; assuming that the forwarding time of the current time service satellite is t time, the time t0, t1 and t2 are three integral points which are the latest time from the current time, the three time points are from new to distant from the current time, and the broadcasted delay values from the central station to the satellite are respectively CS0, CS1 and CS 2.
S202: and calculating the change speed Vcs of the uplink time delay according to the time delay values from the central station to the satellite corresponding to the latest three integral points in the S201:
Vcs0＝(CS0-CS1)/(t0-t1)＝(CS0-CS1)/dT
Vcs1＝(CS1-CS2)/(t1-t2)＝(CS1-CS2)/dT
wherein dT refers to the time interval of RDSS time service and broadcasting, and is 1 minute.
S203: and estimating the acceleration of the uplink time delay according to the change speed Vcs of the uplink time delay from the central station to the satellite for two minutes estimated in the step S202:
Acs＝(Vcs0-Vcs1)/dT。
s204: calculating an uplink delay value CS of the time service satellite transfer time according to the change speed Vcs of the uplink delay from the central station to the satellite of two minutes estimated in S202 and the acceleration of the uplink delay estimated in S203:
assuming that the current time service satellite forwarding time is t time according to the step 1, the time difference dt between the t time and the t0 is t-t0
CS＝CS0+(Vcs0+Acs×dt)×dt
CS＝CS0+((CS0-CS1)/dT+(Vcs0-Vcs1)×dt/dT)×dt
CS＝CS0+((CS0-CS1)/dT+((CS0-CS1)/dT-(CS1-CS2)/dT)×dt/dT)×dt
CS＝CS0+(CS0-CS1)×dt/dT+(CS0+CS2-2CS1)×dt2/dT2
That is, the final calculation of the uplink delay only uses the uplink delay values from the central station to the satellite broadcast at the three integral points which are the latest distance from the current time.
Step 3, solving the satellite position corresponding to the satellite forwarding time of the current RDSS time service signal, thereby obtaining the downlink time delay from the satellite to the user:
according to the traditional method, the satellite position at the current moment is calculated by utilizing the satellite position and the speed, and the satellite position corresponding to the satellite forwarding moment of the current RDSS time service signal is calculated by only utilizing the satellite position broadcasted at the integral point moment:
as shown in fig. 4, the steps of the first method are as follows:
s301: accumulating the positions of the satellites broadcasted at the latest three integral points away from the current moment in the step 1; assuming that the forwarding time of the current time service satellite is t time, three integration point times t0, t1 and t2 which are the latest time from the current time are provided, the three integration point times are new and far away from the current time, and the broadcasted satellite positions at the integration point time are S0(Xs0, Ys0 and Zx0), S1(Xs1, Ys1 and Zx1) and S2(Xs2, Ys2 and Zx2), respectively.
S302: calculating the satellite position at the current satellite forwarding time by using the calculation method similar to the step 2
Xs＝Xs0+(Xs0-Xs1)×dt/dT+(Xs0+Xs2-2Xs1)×dt2/dT2
Ys＝Ys0+(Ys0-Ys1)×dt/dT+(Ys0+Ys2-2Ys1)×dt2/dT2
Zs＝Zs0+(Zs0-Zs1)×dt/dT+(Zs0+Zs2-2Zs1)×dt2/dT2
Wherein dT refers to the time interval of RDSS time service and broadcast, and is 1 minute; dt is the time difference dt between t and t0, t-t 0.
S303: calculating the satellite-to-user time delay SU by using the St (Xs, Ys, Zs) of the satellite position at the satellite forwarding time estimated in S302 and the known point user position U (Xu, Yu, Zu):
SU＝[(Xs-Xu)2+(Ys-Yu)2+(Zs-Zu)2]1/2。
as shown in fig. 5, the second method specifically comprises the following steps:
s311: accumulating the positions of the satellites broadcasted at the latest three integral points away from the current moment in the step 1; assuming that the forwarding time of the current time service satellite is t time, three integration point times t0, t1 and t2 which are the latest time from the current time are provided, the three integration point times are new and far away from the current time, and the broadcasted satellite positions at the integration point time are S0(Xs0, Ys0 and Zx0), S1(Xs1, Ys1 and Zx1) and S2(Xs2, Ys2 and Zx2), respectively.
S312: calculating the downlink time delay from the satellite to the user corresponding to the integration point moments t0, t1 and t2 by using the position of the satellite broadcast by the integration point and the known point user position U (Xu, Yu, Zu) in S311:
SU0＝[(Xs0-Xu)2+(Ys0-Yu)2+(Zs0-Zu)2]1/2
SU1＝[(Xs1-Xu)2+(Ys1-Yu)2+(Zs1-Zu)2]1/2
SU2＝[(Xs2-Xu)2+(Ys2-Yu)2+(Zs2-Zu)2]1/2
s313: calculating the downlink time delay SU from the satellite to the user corresponding to the current satellite forwarding time by using the calculation method similar to the step 2:
SU＝SU0+(SU0-SU1)×dt/dT+(SU0+SU2-2SU1)×dt2/dT2
wherein dT refers to the time interval of RDSS time service and broadcast, and is 1 minute; dt is the time difference dt between t and t0, t-t 0.
and step 5, adding the uplink time delay obtained in the step 2, the downlink time delay obtained in the step 3 and the time delay correction value obtained in the step 4 to the RDSS time service signal transmitting time to finish corrected time service calculation.
In addition, uplink data from the central station to the satellite at the integral point time within a short time of more than 3 points can be utilized, and the uplink time delay at the current time is calculated in a fitting, difference or fitting difference mode.
Secondly, the method of the invention can also be used for the time service of the Beidou third RDSS, which is different from the time service of the Beidou second RDSS in that the broadcasting frequency of the time service of the Beidou third RDSS is 6s, namely dT is 6s, the data used by the method and the time are correspondingly changed into the latest three 6s periods of broadcasting data, and the corresponding uplink time delay and downlink time delay at the current time are calculated.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. An RDSS time service method is characterized by comprising the following steps:
step 1, obtaining an uplink time delay value from a central station to a satellite at the integral point moment, a satellite position at the integral point moment, a satellite speed and a time delay correction parameter;
step 2, calculating the uplink time delay corresponding to the current correction time by using the uplink time delay value from the central station to the satellite broadcasted at the integral point time obtained in the step 1, and the specific steps are as follows:
s201: accumulating uplink delay values from the central station to the satellite broadcasted at the latest three integral points away from the current time in the step 1; assuming that the forwarding time of the current time service satellite is t time, the time t0, t1 and t2 are three integral points which are the latest time from the current time, the three time points are from new to distant from the current time, and the broadcast time delay values from the central station to the satellite are respectively CS0, CS1 and CS 2;
s202: and calculating the change speed Vcs of the uplink time delay according to the time delay values from the central station to the satellite corresponding to the latest three integral points in the S201:
Vcs0＝(CS0-CS1)/(t0-t1)＝(CS0-CS1)/dT
Vcs1＝(CS1-CS2)/(t1-t2)＝(CS1-CS2)/dT
wherein dT refers to the time interval of RDSS time service and broadcast;
s203: and estimating the acceleration of the uplink time delay according to the change speed Vcs of the uplink time delay from the central station to the satellite, which is estimated in the step S202:
Acs＝(Vcs0-Vcs1)/dT
s204: calculating an uplink time delay value CS when the satellite is transferred according to the change speed Vcs of the uplink time delay from the central station to the satellite estimated in S202 and the acceleration of the uplink time delay estimated in S203:
CS＝CS0+(Vcs0+Acs×dt)×dt
CS＝CS0+((CS0-CS1)/dT+(Vcs0-Vcs1)×dt/dT)×dt
CS＝CS0+((CS0-CS1)/dT+((CS0-CS1)/dT-(CS1-CS2)/dT)×dt/dT)×dt
CS＝CS0+(CS0-CS1)×dt/dT+(CS0+CS2-2CS1)×dt2/dT2
the dt-t 0 represents the time difference between the current time service satellite forwarding time t and the time t 0;
step 3, calculating downlink time delay from the satellite to the user;
step 4, calculating the influence of the ionosphere, the troposphere, the Sagnac effect and the user machine zero value on the time delay by using the user machine zero value and the time delay correction parameter in the step 1 to obtain a time delay correction value;
and step 5, adding the uplink time delay obtained in the step 2, the downlink time delay obtained in the step 3 and the time delay correction value obtained in the step 4 to the RDSS time service signal transmitting time to finish corrected time service calculation.
2. The RDSS time service method of claim 1, wherein the step 3 of calculating the downlink time delay from the satellite to the user comprises the steps of:
s301: accumulating the positions of the satellites broadcasted at the latest three integral points away from the current moment in the step 1; assuming that the forwarding time of the current time service satellite is t time, three integration point times t0, t1 and t2 which are the latest from the current time, the three integration point times are new and far away from the current time, and the broadcasted satellite positions at the integration point time are S0(Xs0, Ys0, Zx0), S1(Xs1, Ys1, Zx1), S2(Xs2, Ys2 and Zx2) respectively;
s302: estimating the satellite position at the current satellite forwarding time by using the estimation method similar to the step 2:
Xs＝Xs0+(Xs0-Xs1)×dt/dT+(Xs0+Xs2-2 Xs1)×dt2/dT2
Ys＝Ys0+(Ys0-Ys1)×dt/dT+(Ys0+Ys2-2 Ys1)×dt2/dT2
Zs＝Zs0+(Zs0-Zs1)×dt/dT+(Zs0+Zs2-2 Zs1)×dt2/dT2
wherein dT refers to the time interval of RDSS time service and broadcast; dt is the time difference dt between the time t and the time t0, which is t-t 0;
s303: calculating the satellite-to-user time delay SU by using the St (Xs, Ys, Zs) of the satellite position at the satellite forwarding time estimated in S302 and the known point user position U (Xu, Yu, Zu):
SU＝[(Xs-Xu)2+(Ys-Yu)2+(Zs-Zu)2]1/2。
3. the RDSS time service method of claim 1, wherein the step 3 of calculating the downlink time delay from the satellite to the user comprises the steps of:
s311: accumulating the positions of the satellites broadcasted at the latest three integral points away from the current moment in the step 1; assuming that the forwarding time of the current time service satellite is t time, three integration point times t0, t1 and t2 which are the latest from the current time are provided, the three integration point times are new and far away from the current time, and the broadcasted satellite positions of the integration point time are S0(Xs0, Ys0, Zx0), S1(Xs1, Ys1, Zx1) and S2(Xs2, Ys2 and Zx2) respectively;
s312: calculating satellite-to-user time delays corresponding to t0, t1 and t2 integration point moments by using the positions of the satellites broadcast by the integration point in S311 and the known point user positions U (Xu, Yu, Zu):
SU0＝[(Xs0-Xu)2+(Ys0-Yu)2+(Zs0-Zu)2]1/2
SU1＝[(Xs1-Xu)2+(Ys1-Yu)2+(Zs1-Zu)2]1/2
SU2＝[(Xs2-Xu)2+(Ys2-Yu)2+(Zs2-Zu)2]1/2
s313: calculating the downlink time delay SU from the satellite to the user corresponding to the current satellite forwarding time by using the calculation method similar to the step 2:
SU＝SU0+(SU0-SU1)×dt/dT+(SU0+SU2-2 SU1)×dt2/dT2
wherein dT refers to the time interval of RDSS time service and broadcast; dt is the time difference dt between t and t0, t-t 0.
4. The RDSS time service method as claimed in claim 1, wherein dT is 1min when the time service is applied to Beidou II.
5. The RDSS time service method as claimed in claim 1, wherein dT is 6s when the time service is applied to Beidou III.
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