Extended Filter For Real- 0me Mul0- GNSS Orbit Determina0on

Transcription

1 Etended Filter For Real- me Mul- GNSS Orbit Determinaon Bingbing Duan Juning Chen (SHAO)

2 Content Background Etended filter Real-time data analsis Alication to BDS sstem Conclusion

3 Background Real-time orbits&clocks Broadcast R(m) T(m) N(m) 3D(m) GPS IIA GPS IIR GPS IIF Galileo BDS-I BDS-M Refer to igs.org and Montenbruck 25

4 Background Real-time orbits&clocks Broadcast R(m) T(m) N(m) 3D(m) GPS IIA GPS IIR GPS IIF Galileo Ultra-Raid.63 Accurac Latenc.62 Udates BDS-I (redicted half) BDS-M GPS Orbits 5cm Real time UTC Clocks.5ns 3,9,5,2 Refer to igs.org and Montenbruck 25

5 Background Real-time orbits&clocks Broadcast R(m) T(m) N(m) 3D(m) GPS IIA GPS IIR GPS IIF Galileo Ultra-Raid.63 Accurac Latenc.62 Udates BDS-I (redicted half) BDS-M GPS Orbits 5cm Real time UTC IGS-RTS Clocks Accurac.5ns Latenc 3,9,5,2 Udates GPS Orbits 5cm Clocks 8cm Refer to igs.org and Montenbruck 25 Real time -

6 Background For eclising satellites, regional GNSS sstem, orbits rediction accurac suffers Refer to Laurichesse et al, 23

7 Background Requirement of Real-time orbit determination u Attractive real-time alications, e.g., hazards monitoring, LEO orbit, trooshere & ionoshere u Constellation erformance monitoring u Imrove Signal in sace (SIS) accurac. Advantage of Multi-GNSS u More observations, better geometr, better recision, short convergence

8 Real-time rocessing From ost to real-time u Data cleaning Most ost-rocessing algorithm cannot satisf real-time data rocessing, single-difference combination are added. u Ambiguit resolution Future measurements are not available, ambiguities fied at two consecutive eochs will be treated as known values. u Filter rocessing LSQ method changed to a batch filter (with caabilit to change udate interval)

9 Etend filter Filter design Filter udate interval (arc length) is i eochs, all the linearizations are with resect to eoch ; Udate initial orbit at eoch and etraolate orbit and to eoch i; i (arc length) can be chosen fleibl u observation interval: the filter is a ure etended filter u 3 das: filter results is the same as least square solution

10 Etend filter Mathematics of the filter State vector Processing Predict + = + j j P j w I M = X z~ ẑ Â ẑ ẑ z~ z A A A z~ z~ Tˆ = + + w w j j j w w vˆ vˆ v ẑ ẑ z ( ( ( ( R M R T ) ) ( ) ) ) ( ) OBS Equ = + + * * j j j * * * * vˆ vˆ v ẑ ẑ z R ~ R R R R Priori info

11 Data information Real-time rocessing Data source : MGEX, 6 GPS sites, Green color stars 45 Galileo sites, Red color circles 36 Beidou sites, black color oints

12 Real-time rocessing Comarison between Filter with different interval and LSQ result

13 Real-time rocessing Comarison between Filter with different interval and LSQ result

14 Real-time rocessing Comare with Reference ost-rocessing orbits Mean 3D RMS: GPS: 7cm BDS-I: 57.2cm, BDS-M: 25.9cm, Galileo: 5.3cm

15 Alication to BDS sstem Imroving BDS sstem SIS accurac. Data length

16 Alication to BDS sstem

17 Alication to BDS sstem Civil signal SIS:URE,UDRE imroved b 44%, 35% URE:.76(RMS) /.35 (95%) UDRE:.26(RMS) /.39 (95%)

18 Conclusion Ø Conclusion Protote sstem develoed and validated With fleibilit to change filter stes Ø Net stes Solar radiation ressure arameter. Ambiguit resolution between different constellations.

19 SHA: GNSS Analsis Center at SHAO h4://

20 Acknowledgement: Prof. Urs Hugentobler (TU Munich) and Oliver Montenbruck (DLR) hosted one-ear visit and valuable discussions