姿态四元数产品对BDS PPP的影响研究  

Research on impact of attitude quaternions products on BDS PPP

作　　者：王晟哲 刘腾 潭冰峰 杨洲铭 WANG Shengzhe;LIU Teng;TAN Bingfeng;YANG Zhouming(Hubei Luojia Laboratory,Wuhan 430097,China;Innovation Academy for Precision Measurement Science and Technology,Chinese Academy of Sciences,Wuhan 430071,China;College of Earth and Planetary Sciences,University of the Chinese Academy of Sciences,Beijing 101408,China)

机构地区：[1]湖北珞珈实验室,武汉430097 [2]中国科学院精密测量科学与技术创新研究院,武汉430071 [3]中国科学院大学地球与行星科学学院,北京101408

出　　处：《导航定位学报》2024年第3期16-28,共13页Journal of Navigation and Positioning

基　　金：国家自然科学基金项目(42174034);国家自然科学基金项目(42004022);湖北珞珈实验室开放基金项目(220100061)。

摘　　要：为解决低太阳高度角卫星姿态异常时期用户端与服务端数据处理姿态模型不一致的问题,国际卫星导航服务组织(IGS)推出了卫星姿态四元数产品。本文介绍了北斗卫星导航系统(BDS)卫星的姿态控制模式及卫星姿态四元数的使用方法,比较了不同分析中心的BDS卫星姿态四元数产品差异;以武汉大学分析中心(WUM)提供的姿态产品为例,研究了BDS卫星在不同偏航控制模式下应用姿态四元数产品对精密单点定位(PPP)的影响。研究表明,动偏期和零偏期不同分析中心BDS姿态四元数产品差异较小(偏航角差异不足0.01°),连续动偏期不同分析中心的BDS姿态产品呈现出10°以内的偏航角差异。零偏期内名义姿态与姿态产品差异大(180°)且持续时间长(1~2个星期),应用姿态产品后可使PPP定位精度提高20%~60%;连续动偏期内,极低太阳高度角情形下(持续1 d左右),同轨道面多颗卫星的名义姿态陆续发生反向偏航,此时应用姿态四元数产品可使PPP定位精度提高30%。总之,低太阳高度角时期应用卫星姿态四元数进行PPP可得到较使用名义姿态精度更优的、接近正常精度水平的结果。To address the issue of inconsistent attitude models between users and providers during periods of low solar elevation angle and satellite attitude anomalies,the international GNSS service(IGS)has introduced satellite attitude quaternions products.This paper provides a detailed introduction to the attitude control mode of BeiDou satellite navigation system(BDS)satellites and the usage of satellite attitude quaternions.It compares the differences in BDS satellite attitude quaternions products among different analysis centers and investigates the impact of applying attitude quaternions products on precise point positioning(PPP)under different yaw control modes for BDS satellites by using the example of the products provided by the Wuhan University Multi-GNSS Data Analysis Center(WUM).The research findings indicate that,for satellites in standard yaw-steering and orbit-normal periods,the differences among BDS attitude quaternion products from different analysis centers are negligible, with yaw angle variances of less than 0.01°, while during continuous yaw-steering periods, the differences are within 10°. During orbit-normal periods, nominal attitudes significantly deviate from attitude products (180° difference) and persist for one to two weeks. The application of attitude products in such scenarios leads to an improvement in PPP positioning accuracy by 20% to 60%. Furthermore, during continuous yaw-steering periods, particularly in extreme low solar elevation situations lasting approximately one day, nominal attitudes of multiple satellites in the same orbital plane gradually exhibit reverse yaw. The application of attitude quaternion products during these circumstances results in a 30% increase in PPP positioning accuracy. In summary, the use of satellite attitude quaternions for PPP during low solar elevation periods yields significantly improved positioning accuracy compared to nominal attitudes, approaching the normal accuracy levels.

关 键 词：姿态四元数 北斗卫星导航系统(BDS)卫星 偏航姿态 精密单点定位(PPP) 

分 类 号：P228[天文地球—大地测量学与测量工程]