Precise Onboard Real-Time Orbit Determination with a Low-Cost Single-Frequency GPS/BDS Receiver
Abstract
:1. Introduction
2. Algorithm
2.1. Dynamical Models
2.2. GNSS Measurements
2.3. Parameter Estimation
3. Experiments
3.1. Datasets and Orbit Determination Strategies
3.2. Reference Orbits
3.3. Force Model Trade-off
3.4. Effect of Measurements Type
3.5. Impact of GPS/BDS Fusion
4. Conclusions
Author Contributions
Funding
Acknowledgments
Conflicts of Interest
References
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Model | Onboard RTOD (SATPODS) | Post POD (PANDA) |
---|---|---|
Measurement model | ||
GNSS data | Single-frequency GPS/BeiDou Navigation System (BDS) phase and pseudo-range measurements (LH + C1) for the FY3C satellite; and single-frequency pseudo-range data (C1) for the YG30/SAT1–SAT6 satellites (interval 30 s) | Dual-frequency GPS/BDS phase and pseudo-range measurements for the FY3C satellite; and single-frequency pseudo-range data (C1) for the YG30/SAT1–SAT6 satellites (interval 10 s) |
GNSS orbit and clock | Broadcast ephemeris | IGS MGEX final precise orbit and clock products |
Receiver clock | A receiver clock offset and a bias between GPS and BDS system | Epoch-wise receiver clock offset and a bias between GPS and BDS system |
Ambiguity | Pseudo-Ambiguity with a random walk process | Real constant value for each ambiguity pass |
Dynamical model | ||
Earth gravity field | Truncated EGM 2008 with low order and degree, neglect the time-varying part | EIGEN-6S, adopt 120 × 120, include the time-varying part |
N-body gravitation | Moon and Sun only, low precision analytic method (position) | Moon, Sun and other planets, JPL DE405 (position) |
Solid earth tide | Simplified model, solid only | IERS Conventions 2010 |
Earth pole tide | Neglected | IERS Conventions 2010 |
Ocean tide | Neglected | FES2004 |
Ocean pole tide | Neglected | IERS Conventions 2010 |
Relativistic effects | Neglected | IERS Conventions 2010 |
Atmosphere drag | Modified Harris-Priester model (density), fixed effective area, drag coefficient with a random walk process | DTM94 model (density), macro model, drag coefficients every 360 min |
Solar radiation | Cannonball model, fixed effective area, radiation pressure coefficient with a random walk process | Macro model, radiation pressure coefficients every 360 min |
Earth radiation | Neglected | Macro model, radiation pressure coefficients every 360 min |
Empirical acceleration | three empirical accelerations in radial, along-track and cross with a first-order Gauss-Markov model | One-cycle-per-orbit-revolution (1CPR) empirical accelerations in radial, along-track and cross |
Reference frame | ||
Coordinate system | WGS84/CGCS2000 | ITRF 2008/ITRF 2014 |
Precession/nutation | IAU1976/IAU 1980 simplified model | IAU 2006/IAU 2000R06 model |
Earth rotation parameter | Rapid predicted EOP in IERS Bulletin A | IERS final EOP products |
Estimation | ||
Estimator | EKF filter | Least square |
Mode | Sequential processing in real-time | Batch processing |
SAT | Overlap Orbit Difference (cm) | External Orbit Difference (cm) | 3D Orbit Accuracy (cm) | |||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|
R | A | C | 1D | 3D | R | A | C | 1D | 3D | |||
FY3C | 2.4 | 6.7 | 5.3 | 5.1 | 8.9 | 3.3 | 10.7 | 7.0 | 7.6 | 13.2 | 10–15 | |
Ratio | 1.35 | 1.59 | 1.33 | 1.49 | 1.49 | |||||||
SAT1 | 2.9 | 8.5 | 9.7 | 7.7 | 13.3 | ~3.9 | ~13.6 | ~12.9 | ~11.4 | ~19.7 | ~20–25 | |
SAT2 | 5.8 | 14.5 | 7.6 | 10.0 | 17.4 | ~7.8 | ~23.2 | ~10.0 | ~14.9 | ~25.9 | ||
SAT3 | 3.6 | 9.4 | 9.6 | 8.0 | 13.9 | ~4.9 | ~14.9 | ~12.7 | ~11.9 | ~20.6 | ||
SAT4 | 4.0 | 12.0 | 8.8 | 8.9 | 15.5 | ~5.4 | ~19.2 | ~11.7 | ~13.3 | ~23.0 | ||
SAT5 | 3.6 | 9.8 | 6.5 | 7.1 | 12.3 | ~4.8 | ~15.6 | ~8.7 | ~10.6 | ~18.3 | ||
SAT6 | 4.1 | 12.2 | 10.4 | 9.6 | 16.6 | ~5.6 | ~19.5 | ~13.8 | ~14.2 | ~24.6 |
Accuracy (RMS) | Position/m | Velocity/mm/s | ||||||
---|---|---|---|---|---|---|---|---|
R | A | C | 3D | R | A | C | 3D | |
FY3C (LH + C1) | 0.171 | 0.483 | 0.122 | 0.527 | 0.419 | 0.186 | 0.139 | 0.479 |
FY3C (C1) | 0.467 | 0.672 | 0.217 | 0.847 | 0.618 | 0.385 | 0.231 | 0.764 |
SAT1 (C1) | 0.561 | 0.947 | 0.307 | 1.143 | 1.088 | 0.502 | 0.319 | 1.240 |
SAT2 (C1) | 0.567 | 0.929 | 0.340 | 1.140 | 1.052 | 0.512 | 0.359 | 1.224 |
SAT3 (C1) | 0.581 | 0.946 | 0.277 | 1.144 | 1.089 | 0.520 | 0.296 | 1.242 |
SAT4 (C1) | 0.504 | 0.981 | 0.396 | 1.171 | 1.061 | 0.491 | 0.427 | 1.245 |
SAT5 (C1) | 0.572 | 0.977 | 0.399 | 1.200 | 1.088 | 0.542 | 0.438 | 1.292 |
SAT6 (C1) | 0.514 | 0.977 | 0.463 | 1.197 | 1.061 | 0.490 | 0.492 | 1.268 |
PDOP | BDS | GPS | GPS + BDSN | GPS + BDS |
---|---|---|---|---|
FY3C | 5.499 | 2.471 | 2.247 | 2.123 |
SAT1 | 5.148 | 1.261 | 1.244 | 1.221 |
SAT2 | 4.995 | 1.281 | 1.252 | 1.236 |
SAT3 | 5.854 | 1.268 | 1.247 | 1.222 |
SAT4 | 5.258 | 1.313 | 1.293 | 1.269 |
SAT5 | 5.630 | 1.320 | 1.295 | 1.275 |
SAT6 | 5.726 | 1.295 | 1.266 | 1.244 |
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Gong, X.; Guo, L.; Wang, F.; Zhang, W.; Sang, J.; Ge, M.; Schuh, H. Precise Onboard Real-Time Orbit Determination with a Low-Cost Single-Frequency GPS/BDS Receiver. Remote Sens. 2019, 11, 1391. https://doi.org/10.3390/rs11111391
Gong X, Guo L, Wang F, Zhang W, Sang J, Ge M, Schuh H. Precise Onboard Real-Time Orbit Determination with a Low-Cost Single-Frequency GPS/BDS Receiver. Remote Sensing. 2019; 11(11):1391. https://doi.org/10.3390/rs11111391
Chicago/Turabian StyleGong, Xuewen, Lei Guo, Fuhong Wang, Wanwei Zhang, Jizhang Sang, Maorong Ge, and Harald Schuh. 2019. "Precise Onboard Real-Time Orbit Determination with a Low-Cost Single-Frequency GPS/BDS Receiver" Remote Sensing 11, no. 11: 1391. https://doi.org/10.3390/rs11111391