Low Earth Orbit(LEO)satellites,with their wide coverage and large number,have gradually become a crucial platform and means for navigation and positioning services.Compared to other LEO constellations,Starlink has ove...Low Earth Orbit(LEO)satellites,with their wide coverage and large number,have gradually become a crucial platform and means for navigation and positioning services.Compared to other LEO constellations,Starlink has over 6000 satellites in orbit,and its signals contain synchronous sequences usable for pseudo-range positioning.Thus,it has a potential serve as an alternative to Global Navigation Satellite System(GNSS)for providing Positioning,Navigation,and Timing(PNT)services.Compared to parabolic antennas and electronically scanned phased array antennas for receiving Starlink signals,wide-beam antennas(such as Low-Noise Block(LNB)downconverters)can be used to achieve low-cost multi-satellite tracking.However,it also encounters the issues of distinguishing between multiple satellite signals and low received signal power,which requires high-sensitivity detection.Moreover,there are some other issues such as unknown signal transmission time and real-time satellite orbits,thereby causing failure to navigation.Accordingly,this study focuses on LEO constellations represented by Starlink,proposes a joint pseudo-range and Doppler positioning method for Starlink satellite Signals of Opportunity(SOP)based on the comprehensive utilization of signals and information from LEO satellites.Moreover,this study analyzes the signal detection capability and satellite isolation method,examines the algorithm’s orbital error suppression performance,and establishes the concept of Equivalent Position Dilution of Precision(EPDOP)S_(EPDOP)for joint pseudo-range and Doppler positioning.In the experiment because Starlink satellite signals are not available in China,we take the advantage of Iridium NEXT satellites’global seamless coverage,utilize an algorithm to get pseudo-range observations with the Iridium NEXT signals,and then combine them with Starlink Doppler observations to achieve the joint pseudo-range and Doppler positioning of LEO satellites’SOPs.The experiment results demonstrate that when relying on Starlink Doppler observations for positioning,the proposed method achieves Two-Dimensional(2D)positioning accuracy of 3.6 m and Three-Dimensional(3D)positioning accuracy of 6.2 m.Compared to existing Starlink positioning algorithms based on parabolic antennas and electronically scanned phased array antennas,this method improves the accuracy by at least 35.7%.Additionally,Iridium NEXT signals are used to validate the performance of the proposed algorithm for joint pseudo-range and Doppler positioning.In a 40 km long-baseline scenario,the algorithm achieved a 2D positioning accuracy of 24 m and a 3D positioning accuracy of 41 m with Iridium NEXT satellite pseudo-range and Doppler measurements.展开更多
Cycle slip detection and repair is one of the key technologies for GNSS high-precision positioning.We introduce an enhanced methodology for detecting and repairing BDS four-frequency cycle slips,utilizing fuzzy cluste...Cycle slip detection and repair is one of the key technologies for GNSS high-precision positioning.We introduce an enhanced methodology for detecting and repairing BDS four-frequency cycle slips,utilizing fuzzy clustering analysis.Firstly,based on fuzzy clustering analysis,the optimal combinations for the BDS four-frequency,including extra-wide lane(EWL),wide lane(WL),and narrow lane(NL),were selected.Secondly,the feasibility of this method was verified using actual static and dynamic observation data,and different types of cycle slips were simulated for further validation.Meanwhile,the proposed method was compared with the classical Turbo-Edit method through experiments.Finally,cycle slips were repaired using the least squares method.According to the experimental results,the optimal geometry-free phase combinations(-2,2,1,-1),(1,-1,1,-1),(3,2,-2,-3),and the pseudo-range phase combination(-1,1,1,-1),selected based on fuzzy clustering analysis,were used for cycle slip detection.The proposed method accurately detected small,large,and specific cycle slips simulated in the actual data.Compared with the Turbo-Edit method,the proposed methodwas able to detect specific cycle slips that Turbo-Edit could not.It is worth noting that during the repair process,the coefficients of the combined observation values are integers,preserving the integer cycle characteristic of the observation values,which allows cycle slips to be fixed directly,eliminating the need for complex searching procedures.Consequently,by enhancing the precision and reliability of the detection of BDS four-frequency cycle slips,our proposed method provides the support for the high-precision localization of BDS multi-frequency observations.展开更多
The method of dangerous meteorological phenomenon detection using the data of coordinate measurement by receivers of global navigation satellite system （GLONASS） and global positioning system （GPS） is proposed. Th...The method of dangerous meteorological phenomenon detection using the data of coordinate measurement by receivers of global navigation satellite system （GLONASS） and global positioning system （GPS） is proposed. The possibility of thunderstorm courses and strong clouds detection on data of pseudo-distances and altitudes is shown theoretically and confirmed experimentally.展开更多
A tightly coupled GPS （ global positioning system ）/SINS （ strap down inertial navigation system） based on a GMDH （ group method of data handling） neural network was presented to solve the problem of degraded ac...A tightly coupled GPS （ global positioning system ）/SINS （ strap down inertial navigation system） based on a GMDH （ group method of data handling） neural network was presented to solve the problem of degraded accuracy for less than four visible GPS satellites with poor signal quality. Positions and velocities of the satellites were predicted by a GMDH neural network, and the pseudo ranges and pseudo range rates received by the GPS receiver were simulated to ensure the regular op eration of the GPS/SINS Kalman filter during outages. In the mathematical simulation a tightly cou pled navigation system with a proposed approach has better navigation accuracy during GPS outages, and the anti jamming ability is strengthened for the tightly coupled navigation system.展开更多
Vector tracking changes the classical structure of receivers. Combining signal tracking and navigation solution,vector tracking can realize powerful processing capabilities by the fusion technique of receiving channel...Vector tracking changes the classical structure of receivers. Combining signal tracking and navigation solution,vector tracking can realize powerful processing capabilities by the fusion technique of receiving channel and feedback correction. In this paper,we try to break through the complicated details of numerical analysis,consider the overall influencing factors of the residual in observed data,and use the intrinsic link between a conventional receiver and a vector receiver. A simple method for performance analysis of the vector tracking algorithm is proposed. Kalman filter has the same steady performance with the classic digital lock loop through the analysis of the relation between gain and band width. The theoretical analysis by the least squares model shows that the reduction of range error is the basis for the superior performance realized by vector tracking. Thus,the bounds of its performance enhancement under weak signal and highly dynamic conditions can be deduced. Simulation results verify the effectiveness of the analysis presented here.展开更多
A DGPS positioning model is described, and the elements that influence DGPS positioning precision are analyzed in detail. On this basis, the methods of improving DGPS positioning precision are proposed which include i...A DGPS positioning model is described, and the elements that influence DGPS positioning precision are analyzed in detail. On this basis, the methods of improving DGPS positioning precision are proposed which include increasing updating rate of DGPS correction, building extended DGPS system and improving quality of DGPS correction signal. In the intelligent monitor and control system of the public transport in Beijing, these methods improve the vehicle positioning precision to 2～5m.展开更多
Time synchronization between ground and satellites is a key technology for satellite navigation system. With dual-channel satellite, a method called Two-Way Common-View(TWCV) satellite time transfer for Compass system...Time synchronization between ground and satellites is a key technology for satellite navigation system. With dual-channel satellite, a method called Two-Way Common-View(TWCV) satellite time transfer for Compass system is proposed, which combines both characteristics of satellite common-view and two-way satellite-ground time transfer. By satellite-ground two-way pseudo-range differencing and two stations common-view differencing, this TWCV method can completely eliminate the influence of common errors, such as satellite clock offset, ephemeris errors, troposphere delay and station coordinates errors. At the same time, ionosphere delay related to signal frequency is also weakened significantly. So the precision of time transfer is improved much more greatly than before. In this paper, the basic principle is introduced in detail, the effect of major errors is analyzed and the practical calculation model in the Earth-fixed coordinate system for this new method is provided. Finally, experiment analysis is conducted with actual Compass observing data. The results show that the deviation and the stability of the satellite dual channel can be better than 0.1 ns, and the accuracy of the two-way common-view satellite time transfer can achieve 0.4 ns. All these results have verified the correctness of this TWCV method and model. In addition, we compare this TWCV satellite time transfer with the independent C-band TWSTFT(Two-Way Satellite Time and Frequency Transfer). It shows that the result of the TWCV satellite time transfer is in accordance with the C-band TWSTFT result, which further suggests that the TWCV method is a remote high precision time transfer technique. The research results in this paper are very important references for the development and application of Compass satellite navigation system.展开更多
基金support is received from the Strategic Priority Research Program of the Chinese Academy of Sciences(XDA0350101)the Project(E2M4140306).
文摘Low Earth Orbit(LEO)satellites,with their wide coverage and large number,have gradually become a crucial platform and means for navigation and positioning services.Compared to other LEO constellations,Starlink has over 6000 satellites in orbit,and its signals contain synchronous sequences usable for pseudo-range positioning.Thus,it has a potential serve as an alternative to Global Navigation Satellite System(GNSS)for providing Positioning,Navigation,and Timing(PNT)services.Compared to parabolic antennas and electronically scanned phased array antennas for receiving Starlink signals,wide-beam antennas(such as Low-Noise Block(LNB)downconverters)can be used to achieve low-cost multi-satellite tracking.However,it also encounters the issues of distinguishing between multiple satellite signals and low received signal power,which requires high-sensitivity detection.Moreover,there are some other issues such as unknown signal transmission time and real-time satellite orbits,thereby causing failure to navigation.Accordingly,this study focuses on LEO constellations represented by Starlink,proposes a joint pseudo-range and Doppler positioning method for Starlink satellite Signals of Opportunity(SOP)based on the comprehensive utilization of signals and information from LEO satellites.Moreover,this study analyzes the signal detection capability and satellite isolation method,examines the algorithm’s orbital error suppression performance,and establishes the concept of Equivalent Position Dilution of Precision(EPDOP)S_(EPDOP)for joint pseudo-range and Doppler positioning.In the experiment because Starlink satellite signals are not available in China,we take the advantage of Iridium NEXT satellites’global seamless coverage,utilize an algorithm to get pseudo-range observations with the Iridium NEXT signals,and then combine them with Starlink Doppler observations to achieve the joint pseudo-range and Doppler positioning of LEO satellites’SOPs.The experiment results demonstrate that when relying on Starlink Doppler observations for positioning,the proposed method achieves Two-Dimensional(2D)positioning accuracy of 3.6 m and Three-Dimensional(3D)positioning accuracy of 6.2 m.Compared to existing Starlink positioning algorithms based on parabolic antennas and electronically scanned phased array antennas,this method improves the accuracy by at least 35.7%.Additionally,Iridium NEXT signals are used to validate the performance of the proposed algorithm for joint pseudo-range and Doppler positioning.In a 40 km long-baseline scenario,the algorithm achieved a 2D positioning accuracy of 24 m and a 3D positioning accuracy of 41 m with Iridium NEXT satellite pseudo-range and Doppler measurements.
基金supported by the National Natural Science Foundation of China(42174003)the Gansu Provincial Department of Education:Innovation Fund Project for College Teachers(2023A-035)+1 种基金Gansu Provincial Science and Technology Program(Joint Research Fund),24JRRA856the Lanzhou Talent Innovation Project,2023-RC-31.
文摘Cycle slip detection and repair is one of the key technologies for GNSS high-precision positioning.We introduce an enhanced methodology for detecting and repairing BDS four-frequency cycle slips,utilizing fuzzy clustering analysis.Firstly,based on fuzzy clustering analysis,the optimal combinations for the BDS four-frequency,including extra-wide lane(EWL),wide lane(WL),and narrow lane(NL),were selected.Secondly,the feasibility of this method was verified using actual static and dynamic observation data,and different types of cycle slips were simulated for further validation.Meanwhile,the proposed method was compared with the classical Turbo-Edit method through experiments.Finally,cycle slips were repaired using the least squares method.According to the experimental results,the optimal geometry-free phase combinations(-2,2,1,-1),(1,-1,1,-1),(3,2,-2,-3),and the pseudo-range phase combination(-1,1,1,-1),selected based on fuzzy clustering analysis,were used for cycle slip detection.The proposed method accurately detected small,large,and specific cycle slips simulated in the actual data.Compared with the Turbo-Edit method,the proposed methodwas able to detect specific cycle slips that Turbo-Edit could not.It is worth noting that during the repair process,the coefficients of the combined observation values are integers,preserving the integer cycle characteristic of the observation values,which allows cycle slips to be fixed directly,eliminating the need for complex searching procedures.Consequently,by enhancing the precision and reliability of the detection of BDS four-frequency cycle slips,our proposed method provides the support for the high-precision localization of BDS multi-frequency observations.
基金Task Complex Program National Academy of Sciences of Ukraine on Space Research for 2012-2016
文摘The method of dangerous meteorological phenomenon detection using the data of coordinate measurement by receivers of global navigation satellite system （GLONASS） and global positioning system （GPS） is proposed. The possibility of thunderstorm courses and strong clouds detection on data of pseudo-distances and altitudes is shown theoretically and confirmed experimentally.
文摘A tightly coupled GPS （ global positioning system ）/SINS （ strap down inertial navigation system） based on a GMDH （ group method of data handling） neural network was presented to solve the problem of degraded accuracy for less than four visible GPS satellites with poor signal quality. Positions and velocities of the satellites were predicted by a GMDH neural network, and the pseudo ranges and pseudo range rates received by the GPS receiver were simulated to ensure the regular op eration of the GPS/SINS Kalman filter during outages. In the mathematical simulation a tightly cou pled navigation system with a proposed approach has better navigation accuracy during GPS outages, and the anti jamming ability is strengthened for the tightly coupled navigation system.
基金Supported by the National Natural Science Foundation of China(No.41474027)the National Defense Basic Science Project(JCKY2016110B004)
文摘Vector tracking changes the classical structure of receivers. Combining signal tracking and navigation solution,vector tracking can realize powerful processing capabilities by the fusion technique of receiving channel and feedback correction. In this paper,we try to break through the complicated details of numerical analysis,consider the overall influencing factors of the residual in observed data,and use the intrinsic link between a conventional receiver and a vector receiver. A simple method for performance analysis of the vector tracking algorithm is proposed. Kalman filter has the same steady performance with the classic digital lock loop through the analysis of the relation between gain and band width. The theoretical analysis by the least squares model shows that the reduction of range error is the basis for the superior performance realized by vector tracking. Thus,the bounds of its performance enhancement under weak signal and highly dynamic conditions can be deduced. Simulation results verify the effectiveness of the analysis presented here.
文摘A DGPS positioning model is described, and the elements that influence DGPS positioning precision are analyzed in detail. On this basis, the methods of improving DGPS positioning precision are proposed which include increasing updating rate of DGPS correction, building extended DGPS system and improving quality of DGPS correction signal. In the intelligent monitor and control system of the public transport in Beijing, these methods improve the vehicle positioning precision to 2～5m.
基金supported by the National Natural Science Foundation of China(Grant No.41174027)the National High-tech Research and Development Program(863 Program)(Grant No.2013AA122402)
文摘Time synchronization between ground and satellites is a key technology for satellite navigation system. With dual-channel satellite, a method called Two-Way Common-View(TWCV) satellite time transfer for Compass system is proposed, which combines both characteristics of satellite common-view and two-way satellite-ground time transfer. By satellite-ground two-way pseudo-range differencing and two stations common-view differencing, this TWCV method can completely eliminate the influence of common errors, such as satellite clock offset, ephemeris errors, troposphere delay and station coordinates errors. At the same time, ionosphere delay related to signal frequency is also weakened significantly. So the precision of time transfer is improved much more greatly than before. In this paper, the basic principle is introduced in detail, the effect of major errors is analyzed and the practical calculation model in the Earth-fixed coordinate system for this new method is provided. Finally, experiment analysis is conducted with actual Compass observing data. The results show that the deviation and the stability of the satellite dual channel can be better than 0.1 ns, and the accuracy of the two-way common-view satellite time transfer can achieve 0.4 ns. All these results have verified the correctness of this TWCV method and model. In addition, we compare this TWCV satellite time transfer with the independent C-band TWSTFT(Two-Way Satellite Time and Frequency Transfer). It shows that the result of the TWCV satellite time transfer is in accordance with the C-band TWSTFT result, which further suggests that the TWCV method is a remote high precision time transfer technique. The research results in this paper are very important references for the development and application of Compass satellite navigation system.
