阅读说明：本技术 一种卫星天线相位中心偏差计算方法及装置 (Satellite antenna phase center deviation calculation method and device ) 是由 肖国锐 曾添 隋立芬 贾小林 冯来平 于 2020-05-22 设计创作，主要内容包括：本发明涉及一种卫星天线相位中心偏差计算方法及装置,属于天线测量和卫星定位导航技术领域。方法包括：获取各测站的历史观测量；以GNSS的基本观测方程为基础,建立非组合PCO估计模型,非组合PCO估计模型包括各频点的伪距方程和载波相位方程；各频点包括第一频点、第二频点和第三频点；根据历史观测量、以及非组合PCO估计模型得到第三频点的PCO。本发明建立的非组合PCO估计模型包括各频点的伪距方程和载波相位方程,因此通过该模型可以对第三频点的PCO进行单独计算,得到准确的第三频点的PCO,不仅可以提升精密轨道和钟差确定的精度,还可以应用于求解地球参考框架尺度参数、精化卫星光压模型、研究电离层延迟的二阶项影响等,实现高精度定位。(The invention relates to a satellite antenna phase center deviation calculation method and device, and belongs to the technical field of antenna measurement and satellite positioning navigation. The method comprises the following steps: acquiring historical observed quantities of all stations; establishing a non-combined PCO estimation model based on a basic observation equation of the GNSS, wherein the non-combined PCO estimation model comprises a pseudo-range equation and a carrier phase equation of each frequency point; each frequency point comprises a first frequency point, a second frequency point and a third frequency point; and obtaining the PCO of the third frequency point according to the historical observed quantity and the non-combined PCO estimation model. The non-combined PCO estimation model established by the invention comprises a pseudo-range equation and a carrier phase equation of each frequency point, so that the PCO of the third frequency point can be independently calculated through the model to obtain the accurate PCO of the third frequency point, the precision of the determination of the precise orbit and the clock error can be improved, and the model can be applied to solving the scale parameter of the earth reference frame, refining the satellite light pressure model, researching the second-order term influence of the ionospheric delay and the like to realize high-precision positioning.)

1. A satellite antenna phase center deviation calculation method is characterized by comprising the following steps:

1) acquiring historical observed quantities of all stations;

2) establishing a non-combined PCO estimation model based on a basic observation equation of the GNSS, wherein the non-combined PCO estimation model comprises a pseudo-range equation and a carrier phase equation of each frequency point; each frequency point comprises a first frequency point, a second frequency point and a third frequency point;

3) and obtaining the PCO of the third frequency point according to the historical observed quantity and the non-combined PCO estimation model.

2. The satellite antenna phase center bias calculation method of claim 1, wherein the non-combined PCO estimation model is:

wherein the content of the first and second substances,the pseudo range of the survey station r at a first frequency point is the satellite s;is the sight vector of the satellite s and the survey station r; phi (t)₀,t)^sFrom an initial time t for a satellite s₀A state transition matrix to the current time t;initial state parameters representing the satellite s, including position, velocity and force model parameters; x is the number of_rIs the position vector of the survey station r;a projection function for satellite s, station r; t is_rTropospheric delay for survey station r; c is the speed of light;the clock error of the measuring station r after parameter recombination;the clock error of the satellite s after parameter recombination;the ionospheric delay of the first frequency point after parameter recombination; gamma ray₁An ionospheric delay coefficient for a first frequency point; epsilon₁Measuring error of the pseudo range of the first frequency point;the pseudo range of the survey station r at the second frequency point is the satellite s; gamma ray₂The ionospheric delay coefficient of the second frequency point; epsilon₂Measuring error of the pseudo range of the second frequency point;the pseudo range of the survey station r at a third frequency point is the satellite s; e.g. of the type^sA satellite-solid system coordinate vector of the satellite s under a reference coordinate system;correcting a vector for the PCO of the third frequency point of the satellite s; gamma ray₃The ionospheric delay coefficient of a third frequency point; epsilon₃The measurement error of the pseudo range of the third frequency point;the carrier phase of the survey station r at the first frequency point is the satellite s;the carrier phase of the survey station r at the second frequency point is the satellite s;the carrier phase of the survey station r at the third frequency point is the satellite s; h_rA deviation item of a third frequency point of the measuring station r;the deviation term of the third frequency point of the satellite s after parameter recombination;the ambiguity parameter of the first frequency point after the parameter recombination is obtained;the ambiguity parameter of the second frequency point after the parameter recombination is obtained;and the ambiguity parameter is the third frequency point after parameter recombination.

3. The method of claim 2, wherein in the non-combined PCO estimation model, the deviation term H of the third frequency point of the survey station r is_rThe method comprises the following steps that hardware delay components of the observation station r are unchanged in pseudo range of each frequency point:

H_r＝-(αB_r,1+βB_r,2)-γ₃β(B_r,1-B_r,2)+B_r,3；

wherein, B_r,1The hardware delay component is unchanged when the observation station r is in the pseudo range of the first frequency point; b is_r,2The pseudo range of the observation station r at the second frequency point is the unchanged hardware delay component; b is_r,3The pseudo range of the observation station r at the third frequency point is the unchanged hardware delay component; f₁is the frequency of the first frequency point, f₂Is the frequency of the second frequency point.

4. The satellite antenna phase center bias calculation method of claim 2, wherein the non-combined PCO estimateIn the model, the deviation term of the third frequency point of the satellite s after parameter recombinationThe method comprises the following steps of (1) carrying out time-varying hardware delay component and pseudo-range time-invariant hardware delay component on carrier phase of each frequency point of a satellite s:

wherein the content of the first and second substances,the hardware delay component is unchanged when the satellite s is in the pseudo range of the first frequency point;the hardware delay component is unchanged when the satellite s is in the pseudo range of the second frequency point;the pseudo range of the satellite s at the third frequency point is the constant hardware delay component;a carrier phase time-varying hardware delay component of the satellite s at a first frequency point;a carrier phase time-varying hardware delay component of the satellite s at the second frequency point;a carrier phase time-varying hardware delay component of the satellite s at a third frequency point; f₁is the frequency of the first frequency point, f₂Is the frequency of the second frequency point.

5. The method for calculating the phase center deviation of the satellite antenna according to claim 2, wherein in the non-combined PCO estimation model, the ambiguity parameter of the third frequency point after the parameter recombinationThe method comprises the steps that hardware delay components of a satellite s are unchanged in pseudo-range of each frequency point; the hardware delay component is unchanged when the observation station r is in pseudo-range of the first frequency point and the second frequency point; the hardware delay component of the survey station r is unchanged in the carrier phase of the third frequency point and the hardware delay component of the satellite s is unchanged in the carrier phase of the third frequency point:

wherein λ is₃Is the wavelength of the third frequency point;the ambiguity parameter of the third frequency point before parameter recombination; b_r,3The carrier phase of the station r at the third frequency point is unchanged, namely the hardware delay component;the carrier phase of the satellite s at the third frequency point is unchanged, namely the hardware delay component; b is_r,1The hardware delay component is unchanged when the observation station r is in the pseudo range of the first frequency point; b is_r,2The pseudo range of the observation station r at the second frequency point is the unchanged hardware delay component;the hardware delay component is unchanged when the satellite s is in the pseudo range of the first frequency point;the hardware delay component is unchanged when the satellite s is in the pseudo range of the second frequency point;the pseudo range of the satellite s at the third frequency point is the constant hardware delay component;f₁is the frequency of the first frequency point, f₂Is the frequency of the second frequency point.

6. A satellite antenna phase center deviation calculation apparatus comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, the processor implementing the satellite antenna phase center deviation calculation method according to any one of claims 1 to 5 when executing the computer program.

Technical Field

The invention relates to a satellite antenna phase center deviation calculation method and device, and belongs to the technical field of antenna measurement and satellite positioning navigation.

Background

The navigation satellite antenna completes the signal transmitting function, and the center of a signal radiation source is not consistent with the center of mass of the satellite, so that the antenna phase center deviation, namely PCO, can be generated, and when the satellite radiates signals towards different nadir angles and azimuth angles, the satellite phase change, namely PCV, can be generated slightly. For these reasons, the PCO of the satellite and the receiver generally needs to be estimated comprehensively by using observation data for many years to obtain a relatively accurate value, and the value is usually stabilized as a constant value due to a small variation range, which is convenient for various applications of the GNSS. Due to factors such as environmental changes after the satellite enters orbit, the ground calibration value may not be an accurate value of the satellite. Therefore, it is often necessary to calibrate the PCO of a newly launched satellite in-orbit after it has been in-orbit for some time.

In the prior art, satellite precision orbit determination is generally performed by using an observation model based on dual-frequency ionosphere elimination combination, and the estimation of the current antenna phase center obtained by the method is the result of a dual-frequency signal (namely, an IF strategy). However, in the current united states, the GPS, Galileo in the european union and the beidou satellite navigation system (BDS) in china all support observation values of three or more frequencies, that is, the GPS has 12 satellites capable of transmitting signals of three frequency points, and the BDS and Galileo can already transmit signals of more than three frequency points of a full constellation. Compared with the dual-frequency observation value of the traditional GNSS, the third frequency observation value of the GNSS has important significance. The observed value of the third frequency has smaller noise and better multipath resistance, in addition, in a complex environment, the data loss condition is very common, if the conventional dual-frequency observed value is lost, the third frequency can assist in combining and eliminating ionosphere errors, the positioning performance can be obviously improved, the data availability can be greatly improved by the observed values of the multiple frequencies, and the resolving continuity and the result availability are ensured.

Therefore, when the antenna phase center deviation is calibrated, the third frequency point needs to be calibrated separately, but the PCO of a single frequency point cannot be estimated based on the observation model of the dual-frequency ionosphere elimination combination, and therefore, the PCO of the third frequency point is generally assumed to be consistent with the PCO of an adjacent frequency point, for example: the L5 frequency point of the GPS is assumed to be consistent with the L2 frequency point, the B3 frequency point of the second generation of the Beidou is assumed to be consistent with the B2 frequency point, and based on the assumption, the contribution of the third frequency point can be influenced by the error term, so that a technical scheme for estimating the PCO of the third frequency point needs to be provided.

Disclosure of Invention

The method aims to provide a satellite antenna phase center deviation calculation method, and an effective solution is provided for calculation of the PCO of a third frequency point; meanwhile, a satellite antenna phase center deviation calculation device is also provided.

In order to achieve the above object, the present application provides a technical solution of a satellite antenna phase center deviation calculation method, including the following steps:

1) acquiring historical observed quantities of all stations;

2) establishing a non-combined PCO estimation model based on a basic observation equation of the GNSS, wherein the non-combined PCO estimation model comprises a pseudo-range equation and a carrier phase equation of each frequency point; each frequency point comprises a first frequency point, a second frequency point and a third frequency point;

3) and obtaining the PCO of the third frequency point according to the historical observed quantity and the non-combined PCO estimation model.

In addition, the present application also provides a satellite antenna phase center deviation calculation apparatus, which includes a processor, a memory, and a computer program stored in the memory and executable on the processor, where the processor implements the technical solution of the satellite antenna phase center deviation calculation method when executing the computer program.

The technical scheme of the satellite antenna phase center deviation calculation method and device has the beneficial effects that: the non-combined PCO estimation model established by the invention comprises a pseudo range equation and a carrier phase equation of each frequency point, so that the PCO of the third frequency point can be independently calculated through the model to obtain the accurate PCO of the third frequency point. The accurate PCO of the third frequency point can not only improve the precision of the precise orbit and the clock error determination, but also be applied to solving the scale parameters of the earth reference frame, refining the satellite light pressure model, researching the second-order term influence of the ionospheric delay and the like, thereby realizing high-precision positioning. The high-precision positioning result has important significance for the research of geoscience such as deformation of the earth crust, plate motion and the like.

Further, in the satellite antenna phase center deviation calculation method and apparatus, the non-combined PCO estimation model is:

wherein the content of the first and second substances,the pseudo range of the survey station r at a first frequency point is the satellite s;is the sight vector of the satellite s and the survey station r; phi (t)₀,t)^sFrom an initial time t for a satellite s₀A state transition matrix to the current time t;initial state parameters representing the satellite s, including position, velocity and force model parameters; x is the number of_rIs the position vector of the survey station r;a projection function for satellite s, station r; t is_rTropospheric delay for survey station r; c is the speed of light;the clock error of the measuring station r after parameter recombination;the clock error of the satellite s after parameter recombination;the ionospheric delay of the first frequency point after parameter recombination; gamma ray₁An ionospheric delay coefficient for a first frequency point; epsilon₁Measuring error of the pseudo range of the first frequency point;the pseudo range of the survey station r at the second frequency point is the satellite s; gamma ray₂The ionospheric delay coefficient of the second frequency point; epsilon₂Measuring error of the pseudo range of the second frequency point;the pseudo range of the survey station r at a third frequency point is the satellite s; e.g. of the type^sA satellite-solid system coordinate vector of the satellite s under a reference coordinate system;correcting a vector for the PCO of the third frequency point of the satellite s; gamma ray₃The ionospheric delay coefficient of a third frequency point; epsilon₃The measurement error of the pseudo range of the third frequency point;the carrier phase of the survey station r at the first frequency point is the satellite s;the carrier phase of the survey station r at the second frequency point is the satellite s;the carrier phase of the survey station r at the third frequency point is the satellite s; h_rA deviation item of a third frequency point of the measuring station r;the deviation term of the third frequency point of the satellite s after parameter recombination;the ambiguity parameter of the first frequency point after the parameter recombination is obtained;the ambiguity parameter of the second frequency point after the parameter recombination is obtained;and the ambiguity parameter is the third frequency point after parameter recombination.

Furthermore, in the satellite antenna phase center deviation calculation method and device, in the non-combined PCO estimation model, the deviation item H of the third frequency point of the survey station r_rThe method comprises the following steps that hardware delay components of the observation station r are unchanged in pseudo range of each frequency point:

H_r＝-(αB_r,1+βB_r,2)-γ₃β(B_r,1-B_r,2)+B_r,3；

wherein, B_r,1The hardware delay component is unchanged when the observation station r is in the pseudo range of the first frequency point; b is_r,2The pseudo range of the observation station r at the second frequency point is the unchanged hardware delay component; b is_r,3The pseudo range of the observation station r at the third frequency point is the unchanged hardware delay component; f₁is the frequency of the first frequency point, f₂Is the frequency of the second frequency point.

Furthermore, in the method and the device for calculating the phase center deviation of the satellite antenna, in the non-combined PCO estimation model, the deviation term of the third frequency point of the satellite s after the parameters are recombinedThe method comprises the following steps of (1) carrying out time-varying hardware delay component and pseudo-range time-invariant hardware delay component on carrier phase of each frequency point of a satellite s:

wherein the content of the first and second substances,the hardware delay component is unchanged when the satellite s is in the pseudo range of the first frequency point;the hardware delay component is unchanged when the satellite s is in the pseudo range of the second frequency point;the pseudo range of the satellite s at the third frequency point is the constant hardware delay component;a carrier phase time-varying hardware delay component of the satellite s at a first frequency point;a carrier phase time-varying hardware delay component of the satellite s at the second frequency point;a carrier phase time-varying hardware delay component of the satellite s at a third frequency point; f₁is the frequency of the first frequency point, f₂Is the frequency of the second frequency point.

Furthermore, in the satellite antenna phase center deviation calculation method and device, in the non-combined PCO estimation model, the ambiguity parameter of the third frequency point after parameter recombinationThe method comprises the steps that hardware delay components of a satellite s are unchanged in pseudo-range of each frequency point; the hardware delay component is unchanged when the observation station r is in pseudo-range of the first frequency point and the second frequency point; when the carrier phase of the survey station r at the third frequency point is notChanging the hardware delay component and the carrier phase of the satellite s at the third frequency point to be unchanged:

wherein λ is₃Is the wavelength of the third frequency point;the ambiguity parameter of the third frequency point before parameter recombination; b_r,3The carrier phase of the station r at the third frequency point is unchanged, namely the hardware delay component;the carrier phase of the satellite s at the third frequency point is unchanged, namely the hardware delay component; b is_r,1The hardware delay component is unchanged when the observation station r is in the pseudo range of the first frequency point; b is_r,2The pseudo range of the observation station r at the second frequency point is the unchanged hardware delay component;the hardware delay component is unchanged when the satellite s is in the pseudo range of the first frequency point;the hardware delay component is unchanged when the satellite s is in the pseudo range of the second frequency point;the pseudo range of the satellite s at the third frequency point is the constant hardware delay component;f₁is the frequency of the first frequency point, f₂Is the frequency of the second frequency point.

Drawings

FIG. 1 is a flow chart of a method for calculating a phase center offset of a satellite antenna according to the present invention;

FIG. 2 is a schematic view of the distribution of stations of the historical observations of the present invention;

FIG. 3 is a schematic diagram of the PCO horizontal time sequence and the beta angle variation of the L5 frequency point obtained by the method of the present invention;

FIG. 4 is a schematic diagram of the change of PCO horizontal time series and beta angle obtained by the IF strategy of the present invention;

FIG. 5-1 is a schematic diagram of the change of PCO horizontal time sequence and beta angle of L1 frequency point obtained by UC strategy according to the present invention;

FIG. 5-2 is a schematic diagram of the change of the PCO horizontal time sequence and the beta angle of the L2 frequency point obtained by using the UC strategy according to the present invention;

FIG. 6 is D of an SRP model of the present invention₀The parameter is a schematic diagram of the sequence of the change along with the beta angle;

FIG. 7 is a schematic diagram of a vertical time series of PCO at L5 frequency points obtained by the method of the present invention;

FIG. 8 is a schematic vertical time series of PCOs obtained using the IF strategy of the present invention;

FIG. 9-1 is a schematic view of a vertical time series of PCO of frequency points L1 obtained by using UC strategy according to the present invention;

fig. 9-2 is a schematic view of a vertical time series of PCOs of L2 frequency points obtained by using the UC strategy according to the present invention.

Detailed Description

The embodiment of the satellite antenna phase center deviation calculation method comprises the following steps:

the main idea of the satellite antenna phase center deviation (PCO) calculation method is that since inaccurate PCO has obvious influence on the precision positioning, orbit determination, attitude, light pressure of GNSS and the calculation of the earth reference frame parameters, the invention establishes a non-combined PCO estimation model, and the PCO of a third frequency point is accurately and independently calculated through the non-combined PCO estimation model.

Specifically, as shown in fig. 1, the method for calculating the phase center offset of the satellite antenna includes the following steps:

1) and acquiring historical observed quantities of all stations.

2) And establishing a non-combined PCO estimation model based on a basic observation equation of the GNSS.

Because the observed quantity has a time-varying bias difference quantity, the bias term of the basic observation equation of the GNSS includes a time-invariant hardware delay component and a time-varying hardware delay component of the observation station and the satellite, specifically, the basic observation equation of the GNSS is as follows:

wherein the content of the first and second substances,for a satellite s, the pseudorange (i.e. pseudorange observed quantity) of a station r at the ith frequency point, i is 1, 2 and 3;distance of survey station r for satellite s;a projection function for satellite s, station r; t is_rTropospheric delay for survey station r; c is the speed of light; δ t_rReconstructing the clock error of the front measuring station r for the parameters;the ionospheric delay of the first frequency point before parameter reorganization; gamma ray_iIs composed ofCoefficient of (a), gamma_i＝(f₁/f_i)²，f_iThe frequency of the ith frequency point; b is_r,iThe constant hardware delay component is the pseudo range of the survey station r at the ith frequency point;the hardware delay component is unchanged when the satellite s is in the pseudo range of the ith frequency point;for the satellite s, the carrier phase (namely the observed quantity of the carrier phase) of the survey station r at the ith frequency point; lambda [ alpha ]_iThe wavelength of the ith frequency point;the ambiguity parameter of the ith frequency point before parameter recombination is obtained; b_r,iThe hardware delay component is unchanged when the carrier phase of the station r at the ith frequency point is measured;the carrier phase of the satellite s at the ith frequency point is unchanged, and the hardware delay component is unchanged;the time-varying hardware delay component is the carrier phase of the satellite s at the ith frequency point.

In the prior art, an IF combination strategy is generally used for calculating the PCO, and for the strategy, an observation model based on dual-frequency deionization layer combination is obtained on the basis of a basic observation equation of GNSS, and the observation model obtains the PCO by dual-frequency combination:

wherein the content of the first and second substances,IF pseudoranges for satellite s, rover r;is the sight vector of the satellite s and the survey station r; phi (t)₀,t)^sFrom an initial time t for a satellite s₀A state transition matrix to the current time t;initial state parameters representing the satellite s, including position, velocity and force model parameters; e.g. of the type^sA satellite-solid system coordinate vector of the satellite s under a reference coordinate system;correction vector for PCO of IF combination of satellite s, antenna position of satellite sThe mark is in a star-fixed system, the Z axis of the star-fixed system points to the earth center, the Y axis is the rotating axis of the solar panel, and the X axis follows the right-hand system; x is the number of_rIs the position vector of the survey station r; c is the speed of light;the clock error of the measuring station r after parameter recombination;the clock error of the satellite s after parameter recombination;a projection function for satellite s, station r; t is_rTropospheric delay for survey station r;IF measurement error as pseudorange;IF carrier phase for satellite s, survey station r;IF measurement error for carrier phase;is the ambiguity parameter of the deionization layer combination.

In the observation model based on the combination of the dual-frequency deionization layer, the parameters are as follows:

wherein the content of the first and second substances,

wherein, δ t_rReconstructing the clock error of the front measuring station r for the parameters;f₁is the frequency of the first frequency point, f₂Is the frequency of the second frequency point; c is the speed of light; b is_r,1The hardware delay component is unchanged when the observation station r is in the pseudo range of the first frequency point; b is_r,2The pseudo range of the observation station r at the second frequency point is the unchanged hardware delay component; δ t^sReconstructing the clock error of the front satellite s as a parameter;the hardware delay component is unchanged when the satellite s is in the pseudo range of the first frequency point;the hardware delay component is unchanged when the satellite s is in the pseudo range of the second frequency point;a carrier phase time-varying hardware delay component of the satellite s at a first frequency point;a carrier phase time-varying hardware delay component of the satellite s at the second frequency point; lambda [ alpha ]_IFA combined wavelength at IF;the ambiguity parameter of the first frequency point before parameter recombination is obtained;the ambiguity parameter of the second frequency point before parameter recombination; b_r,IFIs the hardware delay component which is not changed when the IF carrier phase of the station r is measured; b_r,1The hardware delay component is unchanged when the carrier phase of the station r at the first frequency point is measured; b_r,2The hardware delay component is unchanged when the carrier phase of the station r is at the second frequency point;is the IF carrier phase time invariant hardware delay component of satellite s;the hardware delay component is unchanged when the carrier phase of the satellite s is at the first frequency point;the hardware delay component is unchanged when the carrier phase of the satellite s is at the second frequency point;is the IF pseudo range time invariant hardware delay component of the rover station r;is the IF pseudorange time invariant hardware delay component for satellite s.

However, the PCO of a single frequency point cannot be calculated in the above model, so a non-combined PCO estimation model of the present invention is proposed, where the non-combined PCO estimation model includes pseudo range equations and carrier phase equations of a first frequency point, a second frequency point, and a third frequency point, and specifically the following are:

wherein the content of the first and second substances,the pseudo range of the survey station r at a first frequency point is the satellite s;is the sight vector of the satellite s and the survey station r; phi (t)₀,t)^sFrom an initial time t for a satellite s₀A state transition matrix to the current time t;initial state parameters representing the satellite s, including position, velocity and force model parameters; x is the number of_rIs the position vector of the survey station r;a projection function for satellite s, station r; t is_rTropospheric delay for survey station r; c is the speed of light;the clock error of the measuring station r after parameter recombination;the clock error of the satellite s after parameter recombination;ionospheric delay (first order term) for the first frequency point after parameter reorganization; gamma ray₁An ionospheric delay coefficient for a first frequency point; epsilon₁Measuring error of the pseudo range of the first frequency point;the pseudo range of the survey station r at the second frequency point is the satellite s; gamma ray₂The ionospheric delay coefficient of the second frequency point; epsilon₂Measuring error of the pseudo range of the second frequency point;the pseudo range of the survey station r at a third frequency point is the satellite s; e.g. of the type^sA satellite-solid system coordinate vector of the satellite s under a reference coordinate system;correcting a vector for the PCO of the third frequency point of the satellite s; gamma ray₃The ionospheric delay coefficient of a third frequency point; epsilon₃The measurement error of the pseudo range of the third frequency point;the carrier phase of the survey station r at the first frequency point is the satellite s;the carrier phase of the survey station r at the second frequency point is the satellite s;the carrier phase of the survey station r at the third frequency point is the satellite s; h_rA deviation item of a third frequency point of the measuring station r;the deviation term of the third frequency point of the satellite s after parameter recombination;the ambiguity parameter of the first frequency point after the parameter recombination is obtained;the ambiguity parameter of the second frequency point after the parameter recombination is obtained;and the ambiguity parameter is the third frequency point after parameter recombination.

The ionospheric delay coefficient γ of the first frequency point₁＝(f₁/f₁)²Ionospheric delay factor gamma of the second frequency point₂＝(f₁/f₂)²Third frequency point ionospheric delay coefficient gamma₃＝(f₁/f₃)²Wherein f is₁Is the frequency f of the first frequency point₂Is the frequency, f, of the second frequency point₃Is the frequency of the third frequency point.

In the non-combined PCO estimation model, the deviation term H of the third frequency point of the measuring station r_rThe method comprises the steps that hardware delay components of an observation station r are unchanged in pseudo-range of each frequency point; deviation item of third frequency point of satellite s after parameter recombinationThe method comprises the steps that a carrier phase time-varying hardware delay component and a pseudo-range time-invariant hardware delay component of a satellite s at each frequency point are included; ambiguity parameter of third frequency point after parameter recombinationIncluding pseudoranges from satellite s at various frequency pointsA variable hardware delay component; the hardware delay component is unchanged when the observation station r is in pseudo-range of the first frequency point and the second frequency point; the hardware delay component is unchanged when the survey station r is in the carrier phase of the third frequency point and the hardware delay component is unchanged when the satellite s is in the carrier phase of the third frequency point, which is specifically as follows:

wherein, δ t_rReconstructing the clock error of the front measuring station r for the parameters; b is_r,1The hardware delay component is unchanged when the observation station r is in the pseudo range of the first frequency point; b is_r,2The pseudo range of the observation station r at the second frequency point is the unchanged hardware delay component; f₁is the frequency of the first frequency point, f₂Is the frequency of the second frequency point; δ t^sReconstructing the clock error of the front satellite s as a parameter;the hardware delay component is unchanged when the satellite s is in the pseudo range of the first frequency point;the hardware delay component is unchanged when the satellite s is in the pseudo range of the second frequency point;a carrier phase time-varying hardware delay component of the satellite s at a first frequency point;a carrier phase time-varying hardware delay component of the satellite s at the second frequency point;for the first frequency point before parameter recombinationIonospheric delay;a carrier phase time-varying hardware delay component of the satellite s at a third frequency point;the ambiguity parameter of the ith frequency point before parameter recombination is obtained; lambda [ alpha ]_iThe wavelength of the ith frequency point; b_r,iThe hardware delay component is unchanged when the carrier phase of the station r at the ith frequency point is measured;the carrier phase of the satellite s at the ith frequency point is unchanged, and the hardware delay component is unchanged;the ambiguity parameter of the first frequency point after the parameter recombination is obtained;the ambiguity parameter of the second frequency point after the parameter recombination is obtained;recombinant as a parameter without H^sThe ambiguity parameter of the third frequency point; h^sBefore parameter recombination, the deviation term of the third frequency point of the satellite s; b is_r,3The pseudo range of the observation station r at the third frequency point is the unchanged hardware delay component;the hardware delay component is unchanged for the pseudo range of the satellite s at the third frequency point.

In the non-combined PCO estimation model,x_r,T_r,H_r,for unknown parameters, for And H_rConstraint conditions are added to eliminate rank deficiency, and the method comprises the steps of selecting a ground station as a reference clock, and selecting H of the station_rThe value is 0.

3) And substituting the historical observed quantity obtained in the step 1) into the non-combined PCO estimation model in the step 2) to obtain the PCO of the third frequency point.

In the following, a specific embodiment is used to calculate the PCO of the third frequency point, and compare with the prior art.

The historical observations were: the data processing time interval is selected as the time interval of one whole year in 2018, all MGEX test stations capable of receiving GPS three-frequency observed quantity are collected, about 110 test stations are collected, the distribution of the test stations is shown in FIG. 2, and the three frequencies correspond to an L1 frequency point (a first frequency point), an L2 frequency point (a second frequency point) and an L5 frequency point (a third frequency point). The information of the observation model, the gravitational model, and the non-gravitational model for PCO estimation is shown in table one. It should be noted that since the Z-direction PCO is strongly correlated with the earth frame of reference scale factor, all the ground station coordinates are strongly constrained according to the weekly solution file igs.snx issued by IGS. For PCO of L1 frequency point and L2 frequency point, IGS products are used, for prior value of L5 frequency point, the prior value is the same as that of L1 frequency point and that of L2 frequency point, and the prior constraint of each component is 10.

Information for a watch-Observation model, a gravity model and a non-gravity model

Through the present inventionThe clear non-combined PCO estimation model obtains a schematic diagram of the change of the PCO horizontal time series (including the X direction and the Y direction) and the beta angle (solar altitude angle) of the L5 frequency points of the G01 satellite and the G03 satellite as shown in FIG. 3, wherein the error of the PCO is multiplied by a triple value to clearly show that the horizontal time series value of the PCO of the L5 frequency point has more discrete results when the solar altitude angle is larger because of the horizontal direction of the PCO and the D of the solar light pressure model (namely, the SRP model)₀There is a correlation between the parameters.

Comparing the PCO of the L5 frequency point obtained by the present invention with the PCO obtained in the prior art, the first prior art is shown in fig. 4, and fig. 4 is a diagram of the PCO of the G01 satellite and the G03 satellite obtained by adopting the IF combination strategy in the prior art. The annual horizontal time series in fig. 3 did not appear to stabilize at a value, which is not consistent with the results obtained in fig. 4. In fig. 4, it is shown that the time series of the remaining periods are more stable in one value than the result of the estimation of the frequency point L5, except that the high solar altitude period and the partial satellite erosion period have poor results. As shown in fig. 5-1 and 5-2, in the second prior art, the PCO horizontal time series of the L1 frequency point and the L2 frequency point obtained by using the dual-frequency non-combination strategy (i.e., the UC strategy) have similar trends of the two frequency points, and it can be found that the PCO obtained by the UC strategy is also similar to the PCO estimated by the L5 frequency point of the present invention, that is, the PCO horizontal time series of the whole year has fluctuation due to correlation among PCOs of three frequency points, and the value difference between the PCO coefficient matrix of the L5 frequency point and the L1 and L2 frequency points only exists in sight vectors of different frequency points, which is very small.

D considering PCO horizontal time series and SRP model₀The parameters have strong correlation, for which purpose the examination D₀The result of (1). FIG. 6 plots D for the G09 satellite₀Numerical Ether elevation angle as a result of the numerical sequence of the X-axis, D₀The value of (c) is more stable. This indicates that the SRP model used in the present invention is suitable and for D₀Parameter addition 0.1nm/s²Of (3) is performed.

Similarly, as shown in fig. 7, a PCO vertical time series (including Z direction) diagram of L5 frequency points of a G01 satellite, a G03 satellite, a G06 satellite and a G08 satellite is obtained through the non-combined PCO estimation model of the present invention (the influence of the solar altitude angle is weak), wherein a PCO error is multiplied by three times to clearly show, it can be seen that the PCO vertical time series of the L5 frequency points is stable, compared with the prior art, the PCO vertical time series of the frequency points obtained by the first prior art, such as the IF frequency point policy shown in fig. 8, has insignificant frequency point trend terms, while the PCO vertical time series of the frequency points of the second prior art, such as the PCO vertical time series of the L1 frequency points and the L2 frequency points shown in fig. 9-1 and 9-2, have no trend terms in the result of the L1, and the trend term in the result of the frequency points of the L2 is significantly greater than the frequency point of the L1, but the general trends of the frequency points of the L1 and the L2 are consistent.

And (3) integrating the horizontal time sequence and the vertical time sequence of the PCO to obtain an accurate PCO estimated value, taking the result mean value of a time period with a solar altitude angle of 5-40 degrees as the final PCO estimated result of one satellite to obtain the PCO with L5 frequency points, wherein the medium error magnitude of each satellite is basically equivalent, the average medium error values in the X direction and the Y direction are respectively 0.2cm and 0.2cm, and the average medium error value in the Z direction is 1.6 cm.

The method accurately calculates the PCO of the third frequency point through the non-combined PCO estimation model, is superior to the PCO of the adjacent frequency point, can improve the precision of the determination of the precise orbit and the clock error, can be applied to solving the scale parameters of the earth reference frame, refining the satellite light pressure model, researching the second-order term influence of the ionospheric delay and the like, and realizes high-precision positioning.

The embodiment of the satellite antenna phase center deviation calculating device comprises:

the satellite antenna phase center deviation calculating device comprises a processor, a memory and a computer program which is stored in the memory and can run on the processor, wherein the processor realizes the satellite antenna phase center deviation calculating method when executing the computer program.

The specific implementation process and effect of the satellite antenna phase center deviation calculation method are introduced in the above-mentioned embodiment of the satellite antenna phase center deviation calculation method, and are not described herein again.

That is, the method in the above embodiment of the satellite antenna phase center deviation calculation method should be understood that the flow of the satellite antenna phase center deviation calculation method can be realized by computer program instructions. These computer program instructions may be provided to a processor (e.g., a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus), such that the instructions, which execute via the processor, create means for implementing the functions specified in the method flow.

The processor referred to in this embodiment refers to a processing device such as a microprocessor MCU or a programmable logic device FPGA;

the memory of the present embodiment is used for storing computer program instructions for implementing the satellite antenna phase center deviation calculation method, and includes a physical device for storing information, and usually, the information is digitized and then stored in a medium using an electrical, magnetic, or optical method. For example: various memories for storing information by using an electric energy mode, such as RAM, ROM and the like; various memories for storing information by magnetic energy, such as hard disk, floppy disk, magnetic tape, magnetic core memory, bubble memory, and U disk; various types of memory, CD or DVD, that store information optically. Of course, there are other ways of memory, such as quantum memory, graphene memory, and so forth.

The satellite antenna phase center deviation calculating device formed by the memory and the processor, which are used for storing the computer program instructions for realizing the satellite antenna phase center deviation calculating method, is realized by the processor executing the corresponding program instructions in the computer, and the computer can be realized by a windows operating system, a linux system or other systems, for example, an android and an iOS system programming language in an intelligent terminal, a quantum computer-based processing logic and the like.

As another embodiment, the satellite antenna phase center deviation calculating device may further include other processing hardware, such as a database, a multi-level buffer, a GPU, and the like.