BDS-3 Real-Time Filtered Precise Orbit Determination with Undifferenced Ambiguity Resolution
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摘要: 模糊度固定是全球导航卫星系统（global navigation satellite system，GNSS）高精度数据处理的关键。不同于传统的双差模糊度固定，非差模糊度固定无需构建双差模糊度，更为简单高效。将非差模糊度固定引入北斗三号全球卫星导航系统(BeiDou-3 global navigation satellite system，BDS-3)中地球轨道卫星实时滤波定轨，分析非差模糊度固定对实时滤波轨道收敛速度及精度的影响。利用国际GNSS服务组织全球测站网观测数据进行实时滤波精密定轨实验，以德国地学研究中心的事后快速轨道为参考评定精度。结果表明：非差模糊度固定对收敛速度影响很小，但可以有效提升轨道切向、法向精度；相比浮点解轨道，固定解轨道径向、切向、法向精度分别提高1.0%、18.5%、19.5%，误差均方根分别达到6.0、7.4、6.2 cm；受切向、法向影响，中国空间技术研究院类型卫星轨道精度优于上海微小卫星工程中心类型卫星轨道；顾及窄巷固定率与轨道精度的相关性，窄巷固定率可以作为实时轨道质量的重要指标之一。实时滤波轨道精度的进一步提升有赖于BDS-3数据处理模型的持续精化。Abstract:Objectives Ambiguity resolution is the key for global navigation satellite system(GNSS) high-accuracy data processing. Different from traditional double-difference ambiguity resolution, the undifferenced ambiguity resolution does not need to construct double-difference ambiguity, which is simpler and more efficient.Methods The undifferenced ambiguity resolution is introduced into the BeiDou-3 satellite navigation system(BDS-3)medium Earth orbit satellite real-time filtered orbit determination, and the influence of undifferenced ambiguity resolution on the convergence speed and accuracy of the real-time filtered orbit is analyzed. With observation data from International GNSS Service global network stations, simulated real-time filtered precise orbit determination experiment is conducted with German Research Centre for Geosciences post-processed precise orbit for accuracy assessment.Results The results indicate that while undifferenced ambiguity resolution has little effect on the convergence, it can effectively improve the orbit tangential/normal accuracy; compared with the ambiguity-float orbit, the accuracy of ambiguity-fixed orbit is improved by 1.0%, 18.5%, 19.5% and the error root mean square reaches 6.0, 7.4, 6.2 cm for the radial, tangential, normal directions respectively. Affected by the tangential, normal direction, the orbit accuracy of China Academy of Space Technology type satellites is better than that of Shanghai Engineering Center for Microsatellites type satellites; considering the correlation between narrow lane ambiguity fixed rate and orbit accuracy, narrow lane fixed rate can be used as one of the important indicators of real-time orbit quality.Conclusions Further improvement of real-time filtered orbit relies on the continuous refinement of BDS-3 data processing models.
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致谢: 感谢IGS提供观测数据，GFZ提供精密产品。
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图 1 非差模糊度固定实时滤波定轨流程图
Figure 1. Flowchart of Real-Time Filtered Orbit Determination with Undifferenced Ambiguity Resolution
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图 2 BDS-3实时滤波轨道误差星座均值RMS
Figure 2. BDS-3 Real-Time Filtered Orbit Error Constellation-Mean RMS
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图 3 BDS-3实时滤波轨道误差单天均值RMS
Figure 3. BDS-3 Real-Time Filtered Orbit Error Daily-Mean RMS
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图 4 BDS-3实时滤波轨道误差单天均值RMS分布
Figure 4. BDS-3 Real-Time Filtered Orbit Error Daily-Mean RMS Distribution
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图 5 BDS-3实时滤波轨道误差径向/切向/法向平均RMS
Figure 5. BDS-3 Real-Time Filtered Orbit Error Radial/Tangential/Normal Average RMS
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图 6 BDS-3实时滤波轨道窄巷单天均值固定率
Figure 6. BDS-3 Real-Time Filtered Orbit Narrow Lane Daily-Mean Fixed Rate
表 1 BDS-3实时滤波定轨处理策略
Table 1 Processing Strategy of BDS-3 Real-Time Filtered Orbit Determination
项目 模型 观测值 非差IF组合伪距、相位，截止高度角10°，采样率30 s 定权策略 原始伪距、相位噪声为0.3 m、0.3 cm，高度角权函数为1/sine 天线相位 igs14.atx[26]，接收机端采用GPS相近频率数值替代 卫星姿态 建模 对流层 干延迟：Saastamoinen公式[27]；气压：GPT2w模型[28]；湿延迟：估计，随机游走模型，Vienna投影函数[29]；水平梯度：不考虑 电离层 一阶项：IF组合消除；高阶项：不考虑 潮汐位移 固体潮、海潮、极潮，IERS Conventions 2010[30]，FES2004海潮模型[31] 相位缠绕 改正[32] 接收机钟差 估计，白噪声模型 卫星钟差 估计，白噪声模型 相位模糊度 估计，弧段常数 地球引力 EGM2008模型[33]，IERS Conventions 2010[30] 三体引力 日月以及其他行星，点质量模型，JPL DE405行星星历 潮汐摄动 固体潮、海潮、极潮，IERS Conventions 2010[30]，FES2004海潮模型[31] 相对论效应 IERS Conventions 2010[30] 太阳辐射压 5参数ECOM模型[34] 地球辐射压 不考虑 天线反推力 根据IGS卫星元数据计算[35] 测站坐标 固定为IGS SINEX解 EOP 固定为IERS Bulletin A解 数值积分器 RKF7(8)，30 s步长 参数估计器 扩展卡尔曼滤波 
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表 2 BDS-3实时滤波定轨参数设置
Table 2 Parameter Setting of BDS-3 Real-Time Filtered Orbit Determination
参数 初始状态 初始方差 过程噪声 卫星位置 GFZ事后解 1×104 m2 0 m2 卫星速度 GFZ事后解 1×10－4 (m/s)2 1×10－16×30 (m/s)2 SRP系数 D0为－100.0 nm/s2，
其余为0.0 nm/s21×104 (nm/s2) 2 1×10－7×30 (nm/s2)2 卫星钟差 GFZ事后解 1×104 m2 接收机钟差 伪距单点定位 1×104 m2 测站ZWD 0.0 m 0.25 m2 3×10－8×30 m2 相位模糊度 对齐伪距 1×106 m2 0 m2 卫星宽巷UPD 0.0周 1×102周2 1×30周2 接收机宽巷UPD 0.0周 1×102周2 1×30周2 卫星窄巷UPD 0.0周 1×102周2 1×30周2 接收机窄巷UPD 0.0周 1×102周2 1×30周2
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