GPS衛星軌道及び時計準リアルタイム推定アルゴリズムの開発及びその

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Transcript GPS衛星軌道及び時計準リアルタイム推定アルゴリズムの開発及びその 

第49回宇宙科学技術連合講演会
測位衛星用高精度軌道・
時計決定ソフトウェアの開発
Development of Precise Orbit/Clock
Determination Software for GPS/GNSS
技術コンサルタント
笠井デザインオフィス
高須 知二
笠井 晶二
Tomoji TAKASU, Shoji KASAI
内容 Contents
• GT：GPS/GNSS Precise Analysis SW
Features
Structure
Models
• Accuracy Evaluation
GPS Satellite Orbit/Clock
Station Pos/Tropos Delay
LEO Satellite Orbit
http://gpspp.sakura.ne.jp
GpsTools (GT) ver.0.5.6
http://gpspp.sakura.ne.jp
特徴 Features
• GPS/GNSS Precise Analysis
• Uses Undifferenced Carrier Phase
Measurements
• EKF(Forward/Backward)+Smoother
• Precise Measurement Models
• Precise Satellite Orbit Models
• GUI for Setting/Execution/Utilities
• Matlab/C Environment/Libraries
http://gpspp.sakura.ne.jp
構成図 Block Diagram
Processing RINEX
Station
RINEX
Params. OBS Data NAV Msg. Position
Precise
Precise
Sat Orbit Sat Clock
Ocean Loading
Pred. (GOTIC2)
Observation
Data Editor
Interpolate
Ephemeris
Clean
OBS Data
Multipath
Profiler
Interp.
Sat Orbit
Ocean
Loading
Params.
PCV
Parameter Estimator
Orbit
Clock
ERP/
Tropos. Position Geocenter
Plot Estimation Results
Residuals/
Log
Data/Products
Downloader
GUI I/F
http://gpspp.sakura.ne.jp
処理フロー
Carrier
Phase
OBS
RINEX
OBS Data
Code
OBS
Observation
Data Editor
Parameter
Estimator
Clock-Jump
Detect/Repair
Forward Filter
(Meas Update)
Cycle-Slip
Detect/Repair
Clean
OBS Data
Forward Filter
(Temp Update)
Estimated
Params
(Forward)
Estimated
Params
(Backward)
Backward Filter
(Meas Update)
Carrier
Smoothing
Point
Positioning
RINEX
NAV Msgs.
Processing Flow
Sta Pos
Rcv Clk
Precise Sat
Orbit/Clock
Station
Position
Backward Filter
(Temp Update)
Smoother
Measurement
Models
Satellite
Orbit Models
Estimated
Params
(Smoothed)
http://gpspp.sakura.ne.jp
観測モデル Measurement Models
• Light-Time Equation
• Ionos Delay : Ionosphere-Free LC
• Tropos Delay :
ZTD/Gradients+Mapping Function
• Antenna Phase Center Offset/PCV
• Site Displacements ：
Solid Earth Tide, Ocean Loading etc
• Phase Wind-up/Relativity Effects
http://gpspp.sakura.ne.jp
設定 Model Settings
http://gpspp.sakura.ne.jp
衛星運動モデル Sat Orbit Model
•
•
•
•
•
•
•
•
Geopotential : JGM-3
Tidal Effect : Solid Earth,Ocean Tide etc
3rd Body : Moon/Sun, DE405
Eclipse : Penumbra/Umbra, Earth/Moon
SRP : ROCK4/42, CODE, GSPM etc
Relativity : IERS Conventions
Nutation/Precession:IAU1980,IERS1996
ERP : IERS Bul.B,C04,IGS,or Estimated
http://gpspp.sakura.ne.jp
設定 Model Settings
http://gpspp.sakura.ne.jp
推定パラメータ Estimated Params
•
•
•
•
•
•
GPS/GNSS Satellite Orbit
GPS/GNSS Satellite Clock
Receiver Position (Static/Kinematic)
Receiver Clock
Tropospheric Delay (ZTD, Gradients)
ERP, Geocenter Offset
FIXED or ESTIMATED
http://gpspp.sakura.ne.jp
設定 Parameter Settings
http://gpspp.sakura.ne.jp
GPS衛星軌道・時計決定
精度評価
GPS Satellite Orbit/Clock Accuracy
http://gpspp.sakura.ne.jp
条件 Estimation Settings
•
•
•
•
•
•
•
•
GPS 29 Satellites
GPS Week 1291 (2004/10/3-10/9)
Unit:24H+Overlap24H, Interval:300sec
3Pass Filter/Smoother
Tracking Stations : IGS 40 Stations
Elevation Cutoff : 10 deg
Station Pos : Fixed to Prev. Week PPP
Reference Clock : AMC2
http://gpspp.sakura.ne.jp
観測局 Stations (IGS 40Stas)
30N
MAG0
FAIR
DRAO
YELL
TSKB
NRIL IRKT
PIE1
AMC2
150E
LHAS
POL2
60N
150W
120E
30S
ONSA
90W
MAS1
60W
KOUR
AREQ
30N
THTI
120W
AUCK
90E
VILL MATE
MKEA
PIMO
TROM
ALGO
NRC1
USNO
STJO
180
0E
CEDU
IISC
COCOPERT HOB2
BAHR
MAC160S
60E
30W
30E
0
ASC1
REUN
CAS1
KERG DAV1
LPGS
RIOG
30S
http://gpspp.sakura.ne.jp
推定パラメータ
Estimated Params
Parameters
Satellite Position/Velocity
Satellite SRP Parameters
Satellite Clock
Station Tropos. ZTD
Station Tropos. Gradient
Station Receiver Clock
Carrier Phase Bias
Earth Rotation Parameters
Total Parameters per Epoch
# of
States
6
4
2
1
5
1
1
3
Sats/
Stas
29
29
29
40
40
40
29 x 40
1
Total
174
116
58
40
200
40
1160
3
1788
http://gpspp.sakura.ne.jp
GPS衛星軌道精度 Orbit Accuracy
Position
RMS
Error
3D
Radial
AlongTrack
CrossTrack
5.2
2.0
3.4
3.1
cm
cm
cm
cm
Average of All Sats, wrt IGS Final Orbit
http://gpspp.sakura.ne.jp
0.5
0.4
0.2
0
GPS01
GPS03
GPS04
GPS05
GPS06
GPS07
GPS08
GPS09
GPS10
GPS11
GPS13
GPS14
GPS15
GPS16
GPS17
GPS18
GPS19
GPS20
GPS21
GPS22
GPS23
GPS24
GPS25
GPS26
GPS27
GPS28
GPS29
GPS30
GPS31
Average
Position RMS Error (m)
衛星毎軌道精度
3D
Radial
Along-Track
Cross-Track
0.3
Average
5.2cm
0.1
http://gpspp.sakura.ne.jp
Position Error R/A/C (m) Position Error 3D (m)
GPS PRN01軌道精度
REF: IGS Final MEAN: 0.0345m RMS: 0.0385m
0.4
0.3
0.2
0.1
0
0.2
Radial
Along-Track
Cross-Track
0.1
0
REF: IGS Final
MEAN R: 0.0045m A:-0.0038m C:-0.0083m
RMS R: 0.0121m A: 0.0321m C: 0.0175m
-0.1
-0.2
10/3
10/4
10/5
10/6
10/7
10/8
10/9
http://gpspp.sakura.ne.jp
GPS衛星時計精度
Clock Bias
RMS Error
Clock Accuracy
With BIAS
Without BIAS
0.14
0.10
nsec
nsec
Average of All Sats, wrt IGS Final Clock
http://gpspp.sakura.ne.jp
2
0.5
0
GPS01
GPS03
GPS04
GPS05
GPS06
GPS07
GPS08
GPS09
GPS10
GPS11
GPS13
GPS14
GPS15
GPS16
GPS17
GPS18
GPS19
GPS20
GPS21
GPS22
GPS23
GPS24
GPS25
GPS26
GPS27
GPS28
GPS29
GPS30
GPS31
Average
Clock Bias RMS Error (nsec)
衛星毎時計精度
Clock Bias
1.5
1
Average
0.14ns
http://gpspp.sakura.ne.jp
GPS PRN01時計精度
5
3.67
3.668
3.666
3.664
3.662
Clock Bias Error (nsec)
Clock Bias (nsec)
3.672
x 10
1
REF: IGS Final MEAN: 0.0218nsec RMS: 0.0906nsec
0.5
0
-0.5
-1
10/3
10/4
10/5
10/6
10/7
10/8
10/9
http://gpspp.sakura.ne.jp
IGS AC解比較 Comparisons
Orbit/Clock
Analysis S/W
RMS Error
Orbit
Clock
GT 3pass GpsTools ver.0.5.6 5.2cm 0.14ns
CODE
NRCan
ESOC
IGS GFZ
JPL
AC
MIT
NOAA
SOPAC
Bernese ver.5.0
GIPSY/OASIS-II
BAHN,GPSOBS etc
EPOS.P.V2
GIPSY/OASIS-II
GAMIT,GLOBK
page5
GAMIT,GLOBK
Average of All Sats, wrt IGS Final
3.3cm
3.8cm
14.2cm
3.1cm
5.5cm
5.3cm
9.9cm
7.5cm
0.11ns
0.10ns
0.13ns
0.09ns
0.15ns
0.31ns
－
－
http://gpspp.sakura.ne.jp
測位・対流圏遅延
精度評価
Position,Tropos Delay Accuracy
http://gpspp.sakura.ne.jp
条件 Estimation Settings
•
•
•
•
•
•
•
•
IGS 85 Reference Frame Stations
GPS Week 1291 (2004/10/3-10/9)
Unit:24H+Overlap0H, Interval:300sec
Strategy : Static PPP (24H)
2Pass Filter/Smoother
GPS Orbit/Clock/ERP : IGS Final
Elevation Cutoff : 10 deg
Tropos Model : ZTD/Gradients+NMF
http://gpspp.sakura.ne.jp
観測局 Stations
30N
PETP
BILI
TIXI
TSKB
180E
0
DRAO
YELL
GUAM
150E
GOLD
IRKT
FLIN
CHUR THU3
KSTU
DUBO
PIE1
NYAL
MDO1
NLIB
KELY
URUM
SCH2
120E
ALGO
ARTU
NRC1
LHAS
HOFN
POL2
TOW2 NOUM30S
GODE
60N
WES2
JAB1
DARW
STJO
KIT3
ONSA
LAMA
ALIC
GLSV
JOZE
BOR1
WSRT
AUCK
POTS
BRUS
WTZR
TIDB
90W
90E
GRAZ TRAB
KARRCEDU
ZIMM
CHAT
GRAS
HOB2
MATE
CRO1
VILL
NICOBAHR
YAR1
PERT
MAS1
60W
KOUR
30N
150W
THTI
120W
60S
60E
30W
FORT
MKEA
0
ASC1
30E
MALI
NKLG
30S
GOUG
RBAY
HRAO
CAS1 MCM4
KERG DAV1
MAW1
SYOGVESL
UNSA
SANT
LPGS
RIOG
OHI2
http://gpspp.sakura.ne.jp
測位精度 Sta Position Accuracy
Position
RMS
Error
East
North
Up
3.3
3.1
7.5
mm
mm
mm
Average of All Stas, wrt IGb00(ITRF2000)
http://gpspp.sakura.ne.jp
0
ALGO
ALIC
ARTU
ASC1
AUCK
BAHR
BILI
BOR1
BRUS
CAS1
CEDU
CHAT
CHUR
CRO1
DARW
DAV1
DRAO
DUBO
FLIN
FORT
GLSV
GODE
GOLD
GOUG
GRAS
GRAZ
GUAM
HOB2
HOFN
HRAO
IRKT
JAB1
JOZE
KARR
KELY
KERG
KIT3
KOUR
KSTU
LAMA
LHAS
LPGS
MALI
MAS1
MATE
MAW1
MCM4
MDO1
MKEA
NICO
NKLG
NLIB
NOUM
NRC1
NYAL
OHI2
ONSA
PERT
PETP
PIE1
POL2
POTS
RBAY
RIOG
SANT
SCH2
STJO
SYOG
THTI
THU3
TIDB
TIXI
TOW2
TRAB
TSKB
UNSA
URUM
VESL
VILL
WES2
WSRT
WTZR
YAR1
YELL
ZIMM
Average
Position RMS Error (m)
局毎測位精度
0.05
0.04
0.03
0.02
East
North
Up
Average
E:3.3mm
N:3.1mm
U:7.5mm
0.01
http://gpspp.sakura.ne.jp
水平測位誤差 Horizontal Pos Error
１ｃｍ
http://gpspp.sakura.ne.jp
垂直測位誤差 Vertical Pos Error
１ｃｍ
http://gpspp.sakura.ne.jp
対流圏遅延精度 Tropos Accuracy
Tropospheric Delay
ZTD
RMS Error
4.0
mm
Average of All Stas, wrt IGS Final
http://gpspp.sakura.ne.jp
0
ALGO
ALIC
ARTU
ASC1
AUCK
BAHR
BILI
BOR1
BRUS
CAS1
CEDU
CHAT
CHUR
CRO1
DARW
DAV1
DRAO
DUBO
FLIN
FORT
GLSV
GODE
GOLD
GOUG
GRAS
GRAZ
GUAM
HOB2
HOFN
HRAO
IRKT
JAB1
JOZE
KARR
KELY
KERG
KIT3
KOUR
KSTU
LAMA
LHAS
LPGS
MALI
MAS1
MATE
MAW1
MCM4
MDO1
MKEA
NICO
NKLG
NLIB
NOUM
NRC1
NYAL
OHI2
ONSA
PERT
PETP
PIE1
POL2
POTS
RBAY
RIOG
SANT
SCH2
STJO
SYOG
THTI
THU3
TIDB
TIXI
TOW2
TRAB
TSKB
UNSA
URUM
VESL
VILL
WES2
WSRT
WTZR
YAR1
YELL
ZIMM
Average
ZTD RMS Error (m)
局毎対流圏遅延精度
0.04
0.015
0.01
ZTD
0.035
0.03
0.025
0.02
Average
4.0mm
0.005
http://gpspp.sakura.ne.jp
ALGO対流圏遅延精度
ZTD (m)
2.45
2.4
2.35
2.3
IGS Monthly
ZTD Error (m)
2.25
0.04
REF: IGS Monthly MEAN: -0.0025m RMS: 0.0033m
0.02
0
-0.02
-0.04
10/3
10/4
10/5
10/6
10/7
10/8
10/9
http://gpspp.sakura.ne.jp
LEO衛星軌道決定
精度評価
LEO Satellite POD Accuracy
http://gpspp.sakura.ne.jp
条件 Estimation Settings
•
•
•
•
•
•
•
•
GRACE A, GRACE B
GPS Week 1280 (2004/7/18-7/24)
Unit:24H+Overlap0H, Interval:300sec
Strategy : Kinematic PPP
3Pass Filter/Smoother
GPS Orbit/Clock/ERP : IGS Final
Elevation Cutoff : 0 deg
Receiver Attitude : LEO Sat Model
http://gpspp.sakura.ne.jp
GRACE軌道 GRACE Orbit
30N
150E
120E
60N
90W
180
0E
30S
150W
120W
90E
30N
60W
30W
0
30S
60E
60S
30E
Height：
～500km
http://gpspp.sakura.ne.jp
LEO軌道精度 LEO Orbit Accuracy
Along- CrossRadial
Track Track
Satellite
3D
GRACE A
5.5
3.9
2.9
2.5
cm
cm
cm
cm
GRACE B
7.5
5.6
3.7
3.4
cm
cm
cm
cm
Pos RMS Error, wrt JPL GIPSY Solution
http://gpspp.sakura.ne.jp
Position Error R/A/C (m) Position Error 3D (m)
GRACE A 軌道精度
0.5
REF: Level1B MEAN: 0.0499m RMS: 0.0550m
0.4
0.3
0.2
0.1
0
0.2
Radial
Along-Track
Cross-Track
0.1
0
-0.1
REF: Level1B
MEAN R: 0.0227m A: -0.0041m C: -0.0007m
RMS R:0.0391m A:0.0292m C: 0.0253m
-0.2
7/18
7/19
7/20
7/21
7/22
7/23
7/24
http://gpspp.sakura.ne.jp
Position Error R/A/C (m) Position Error 3D (m)
GRACE B 軌道精度
0.5
REF: Level1B MEAN: 0.0653m RMS: 0.0748m
0.4
0.3
0.2
0.1
0
0.2
Radial
Along-Track
Cross-Track
0.1
0
-0.1
REF: Level1B
MEAN R: 0.0308m A: 0.0022m C: -0.0008m
RMS R:0.0558m A:0.0367m C: 0.0338m
-0.2
7/18
7/19
7/20
7/21
7/22
7/23
7/24
http://gpspp.sakura.ne.jp
まとめ Conclusions
• GT：GPS/GNSS Precise Analysis
• Accuracy (RMSE)
GPS Sat Orbit : 5.2cm (3D)
GPS Sat Clock : 0.14nsec
Station Pos
: 3.1/3.3/7.5mm
Tropos Delay
: 4.０mm (ZTD)
LEO Sat Orbit : 5.5-7.5cm (3D)
See http://gpspp.sakura.ne.jp
http://gpspp.sakura.ne.jp