 | Hauschild A. Precise GNSS clock-estimation for real-time navigation and precise point positioning: Diss. / Deutsches Zentrum für Luft- und Raumfahrt, Raumflugbetrieb und Astronautentraining, Oberpfaffenhofen. - Köln: DLR, Bibliotheks- und Informationswesen, 2011. - xii, 131 p.: ill. - (Forschungsbericht; 2011-01). - Bibliogr.: p.125-131. - ISSN 1434-8454
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1 Introduction ................................................. 1
1.1 Overview and Problem Statement .......................... 1
1.2 Current State of the Art ................................ 2
1.3 Thesis Overview ......................................... 6
1.4 Research Contributions .................................. 7
2 The Atomic Standards of GNSS Satellites ...................... 9
2.1 Historic GPS Satellites ................................. 9
2.1.1 Block I Satellites ............................... 9
2.1.2 Block II Satellites .............................. 9
2.2 Current GPS Satellites ................................. 10
2.2.1 Block IIA Satellites ............................ 10
2.2.2 Block IIR/IIR-M Satellites ...................... 10
2.3 Future GPS Satellites .................................. 13
2.3.1 Block IIF Satellites ............................ 13
2.3.2 Block III Satellites ............................ 14
2.4 GIOVE Satellites ....................................... 14
3 Real-Time Tracking Network .................................. 17
3.1 Network Architecture ................................... 17
3.2 Site Characteristics ................................... 21
3.3 GIOVE Tracking Network ................................. 24
4 Real-Time Clock Estimation .................................. 29
4.1 RETICLE Overview ....................................... 29
4.2 Modeling of GNSS Observations .......................... 32
4.2.1 Reference Station Position ...................... 34
4.2.2 Relativistic Correction ......................... 34
4.2.3 Tropospheric Correction ......................... 35
4.2.4 Antenna Phase Center Correction ................. 36
4.2.5 Phase Wind-Up Correction ........................ 37
4.2.6 Code Bias Correction ............................ 38
4.3 Filter Design .......................................... 41
4.4 Satellite Clock Discontinuity Detection ................ 52
4.4.1 Discontinuity Detection and Recovery Scheme ..... 53
4.4.2 Examples of GPS Clock Jumps ..................... 54
4.4.3 Problems and Limitations ........................ 59
4.5 Effects of Orbit Errors on Clock Estimation ............ 61
4.5.1 IGS Ultra-Rapid Predicted Orbit Error
Analysis ........................................ 61
4.5.2 Effects of Radial, Tangential and Normal Orbit
Errors .......................................... 63
4.5.3 Methods for Mitigation .......................... 73
5 Performance Assessment with Precise Orbit Determination ..... 77
5.1 Clock Accuracy Assessment .............................. 77
5.2 Orbit Determination Procedure .......................... 79
5.3 POD Results and Comparisons ............................ 82
5.3.1 Reduced Dynamics Orbit Determination ............ 82
5.3.2 Kinematic Point Positioning ..................... 90
5.3.3 Kalman Filter based Real-Time Navigation ........ 92
6 IGS Real-Time Pilot Project ................................. 97
6.1 Overview and Status .................................... 97
6.2 Real-Time Product Comparisons .......................... 98
7 GIOVE Real-Time Clock Estimation ........................... 105
7.1 Real-Time Clock Estimation Process for GIOVE .......... 106
7.2 Combined GPS/GIOVE Positioning ........................ 111
7.2.1 Single Point Positioning ....................... 111
7.2.2 Precise Point Positioning ...................... 112
8 Summary, Conclusions and Future Work ....................... 117
Table of Symbols .............................................. 121
Table of Abbreviations ........................................ 123
Bibliography .................................................. 125
Acknowledgments ............................................... 133
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