基于卡尔曼滤波和RTS事后平滑的GNSS共视时间比对算法  

GNSS common-view time comparison algorithm based on Kalman filtering and Rauch-Tung-Streibel smoothing

作　　者：程禹 吴限德[1] 韩华[2] 谢亚恩 邓月 宋婷 CHENG Yu;WU Xiande;HAN Hua;XIE Yaen;DENG Yue;SONG Ting(College of Aerospace and Civil Engineering, Harbin Engineering University, Harbin 150001, China;The Fifty-fourth Research Institute of China Electronic Technology Group Corporation, Shijiazhuang 050000, China;CoHege of Automation, HarlDin Engineer-ing University, Harbin 150001,China;Shanghai Key Laboratory of Space Intelligent Control TechSpaceflight Control Technology, Shanghai 201109, China)

机构地区：[1]哈尔滨工程大学航天与建筑工程学院,黑龙江哈尔滨150001 [2]中国电子科技集团公司第五十四研究所,河北石家庄050000 [3]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [4]上海航天控制技术研究所上海市空间智能控制技术重点实验室,上海201109

出　　处：《哈尔滨工程大学学报》2018年第5期915-920,共6页Journal of Harbin Engineering University

基　　金：黑龙江省自然科学基金项目(F2015032);中央高校基本科研业务费专项资金项目(HEUCFP201770);国家自然科学基金项目(11772185);哈尔滨市青年科技创新人才基金项目(2013RFQXJ001)

摘　　要：基于GNSS时间比对是时间同步、授时等的关键,是校正GNSS接收设备时间差、改进其设计和性能的重要措施。针对GNSS信号传播过程中的电离层时延和对流层时延问题,以及地球自转效应对信号和卫星位置解算的影响,将卡尔曼滤波和RTS事后平滑相结合,以提高时间比对精度。算法结果表明:对流层延时、电流曾延时、地球自转效应等链路延时、可提高公示时间比对精度;并且卡尔曼滤波和RTS事后平滑相结合的事后共视算法的精度可以达到2 ns。Using time comparison based on the Global Navigation Satellite System（ GNSS） is a key technique in time synchronization,timing,and other applications,and time comparison an important measure for correcting the time difference in GNSS receivers and improving their design and performance. By focusing on the ionospheric and tropospheric delays in GNSS signal propagation,this study considers the effect of the rotation on the signal and calculating the satellite position by combining Kalman filtering and Rauch-Tung-Striebel（ RTS） after-smoothing to improve the accuracy of the time comparison. This research considers the tropospheric delay,current delay,and the earth rotation effect of link delay based on a consensus time comparison Kalman filtering algorithm on RTS after adding a smoothing algorithm based on the state equation and increasing the coefficient. By using Kalman algorithm after improving the accuracy by filtering and using the RTS algorithm after applying the consensus smoothing algorithm can effectively improve the precision of time comparison to achieve a time comparison precision of 2 ns time.

关 键 词：时间比对 共视 电离层延时 对流层延时 KALMAN滤波 RTS平滑 地球自转效应 传输时延 

分 类 号：V19[航空宇航科学与技术—人机与环境工程]