Abstract
The BeiDou navigation satellite system (BDS) tracks medium earth orbit (MEO) satellites using only regional tracking stations in China. As a result, the broadcast clock accuracy of the MEO satellites decreases rapidly during the invisible arcs because of the lack of available observations. The inter-satellite link (ISL) technology of the third generation of BDS (BDS-3) can be used to extend the visible arcs of MEO satellites and to measure the relative inter-satellite clock in nearly real time. We propose a broadcast clock approach for BDS-3 by integrating observations from regional tracking stations and ISLs. The clock error between satellites is obtained through centralized estimation based on ISLs. The Ka-band hardware delay is calibrated by taking the double difference between ISL-centralized clock and the Multi-satellite Precise Orbit Determination clock. The deviation between the ISL-centralized clock and the BeiDou time is obtained using only one Two-way Satellite Time Comparison station or anchor station. To validate the algorithms, we analyze clock estimation and prediction accuracy, hardware delay stability, and time synchronization accuracy. The results show that the frequency stability of the BDS-3 onboard passive hydrogen maser (PHM) and rubidium atomic frequency standard (RAFS) is competitive to those of the GPS IIF RAFS and Galileo FOC PHM and better than those of GPS IIR RAFS. The root-mean-square error of the 2-h clock prediction is better than 0.25 ns, and the validation result relative to the post-processed precise clock product is better than 0.4 ns. The time synchronization accuracy of better than 1 ns can be obtained based on only one TSTC station or an anchor station, and the standard deviation of Ka-band hardware delay is about 0.12 ns. It is believed that the ISL and the proposed algorithms will bring a significant upgrade in the estimation of BDS-3 broadcast clock; the broadcast clock accuracy will be greatly improved, and reliance on the ground segment will also be reduced significantly.
Similar content being viewed by others
Data Availability
The BDS-3 ISL measurements and TSTC data are available from the corresponding author upon request. The BDS-3 precise clock products can be found at ftp://ftp.aiub.unibe.ch/CODE/. The GPS antenna file can be found at ftp://igs.gnsswhu.cn/pub/gnss/products/mgex/.
References
Allan DW (1987) Time and frequency (Time-Domain) characterization, estimation, and prediction of precision clocks and oscillators. IEEE Trans Ultrason Ferroelectr Freq Control (UFFC) 34(6):647–654. https://doi.org/10.1109/T-UFFC.1987.26997
Ananda MP, Bemstein H, Cunningham KE, Feess WA, Stroud EG (1990) Global positioning system (GPS) autonomous navigation. In: Position location and navigation symposium. https ://doi.org/https://doi.org/10.1109/PLANS.1990.66220
Chen JP, Hu XG, Tang CP, Zhou SS, Guo R, Pan JY, Li R, Zhu LF (2016) Orbit determination and time synchronization for new generation BeiDou satellites: preliminary results (in Chinese). Sci Sin Phys Mech Astron 46(11):119502
Guo R, Hu XG, Tang B, Huang Y, Liu L, Chen LC, He F (2010) Precise orbit determination for geostationary satellites with multiple tracking techniques. Chin Sci Bull 55(8):687–692. https://doi.org/10.1007/s11434-010-0074-x
Guo F, Li XX, Zhang XH, Wang JL (2017) Assessment of precise orbit and clock products for Galileo, Beidou, and QZSS from IGS multi-GNSS experiment (MGEX). GPS Solut 21(1):279–290. https://doi.org/10.1007/s10291-016-0523-3
Maine KP, Anderson P, Langer J (2003) Crosslinks for the next-generation GPS. IEEE aerospace conference proceedings (Cat. No.03TH8652), March 7–14, 2009, Big Sky, MT, USA. https ://doi.org/ https://doi.org/10.1109/AERO. 2003.1235087
Montenbruck O, Steigenberger P, Hauschild A (2015) Broadcast versus precise ephemerides: a multi-GNSS perspective. GPS Solut 19(2):321–333. https://doi.org/10.1007/s10291-014-0390-8
Montenbruck O et al (2017) The Multi-GNSS Experiment (MGEX) of the International GNSS Service (IGS)-Achievements prospects and challenges. Adv Space Res 59(7):1671–1697. https://doi.org/10.1016/j.asr.2017.01.011
Pan JY, Hu XG, Zhou SS, Tang CP, Guo R, Zhu LF, Tang GF, Hu GM (2018) Time synchronization of new-generation BDS satellites using inter-satellite link measurements. Adv Space Res 61(1):145–153. https://doi.org/10.1016/j.asr.2017.10.004
Rajan J (2002) Highlights of GPS II-R autonomous navigation. In: Proceedings of ION AM 2002, Institute of Navigation, Albuquerque, New Mexico, USA, June 24–26, pp 354–363
Rajan J, Brodie P, Rawicz H (2003) Modernizing GPS autonomous navigation with anchor capability. In: Proceedings of ION GPS 2003, Institute of Navigation, Portland, Oregon, USA, September 9–12, pp 1534–1542
Ren X, Yang YX, Zhu J, Xu TH (2017) Orbit determination of the nextgeneration BeiDou satellites with intersatellite link measurements and a priori orbit constraints. Adv Space Res 60(10):2155–2165
Ren X, Yang YX, Zhu J, Xu TH (2019) Comparing satellite orbit determination by batch processing and extended Kalman filtering using inter-satellite link measurements of the next-generation BeiDou satellites. GPS Solut 23:25. https://doi.org/10.1007/s10291-018-0816-9
Ruan RG, Jia XL, Feng LP, Zhu J, Huyan Z, Li J, Wei Z (2020) Orbit Determination and Time Synchronization for BDS-3 Satellites with Raw Inter-Satellite Link Ranging Observations. Satell Navig 1(1):8. https://doi.org/10.1186/s43020-020-0008-y
Tang CP et al (2018) Initial results of centralized autonomous orbit determination of the new-generation BDS satellites with inter-satellite link measurements. J Geodesy. https://doi.org/10.1007/s00190-018-1113-7
Wu ZQ, Zhou SS, Hu XG, Liu L, Shuai T, Xie YH, Tang CP, Pan JY, Zhu LF, Chang ZQ (2018) Performance of the BDS3 experimental satellite passive hydrogen maser. GPS Solut 22(2):1–13. https://doi.org/10.1007/s10291-018-0706-1
Yang D, Yang J, Li G, Zhou Y, Tang CP (2017) Globalization highlight: orbit determination using BeiDou inter-satellite ranging measurements. GPS Solut 21(3):1395–1404. https://doi.org/10.1007/s10291-017-0626-5
Yang YX, Xu YY, Li JL, Yang C (2018) Progress and performance evaluation of BeiDou global navigation satellite system: data analysis based on BDS-3 demonstration system. Sci China Earth Sci 61(5):614–624. https://doi.org/10.1007/s11430-017-9186-9
Yang YX, Gao WG, Guo SR, Mao Y, Yang YF (2019) Introduction to BeiDou-3 navigation satellite system. Navigation 66(1):7–18. https://doi.org/10.1002/navi.291
Yang YF, Yang YX, Hu XG, Chen JP, Guo R, Tang CP, Zhou SS, Zhao LQ, Xu JY (2020a) Inter-Satellite Link Enhanced Orbit Determination for BeiDou-3. J Navig 73(1):115–130. https://doi.org/10.1017/S0373463319000523
Yang YX, Mao Y, Sun BJ (2020b) Basic performance and future developments of BeiDou global navigation satellite system. Satellite Navigation 1(1):1–8. https://doi.org/10.1186/s43020-019-0006-0
Zhou SS et al (2011) Orbit determination and time synchronization for a GEO/IGSO satellite navigation constellation with regional tracking network. Science China (Phys Mech Astron) 54(6):1089–1097. https://doi.org/10.1007/s11433-011-4342-9
Zhou SS, Hu XG, Liu L, Guo R, Zhu LF, Chang ZQ, Tang CP, Gong XQ, Li R, Yu Y (2016) Applications of two-way satellite time and frequency transfer in the BeiDou navigation satellite system. Sci China (Phys Mech Astron) 59(10):109511. https://doi.org/10.1007/s11433-016-0185-6
Acknowledgements
The authors are profoundly grateful to IGS and WHU for providing GNSS products. The reviewers are very appreciated for their helpful comments and remarks that have improved the manuscript. This study was supported by the National Natural Science Foundation of China (Grant Nos. 41931076, L1924033, 41904042 and 41804030, 41874039).
Author information
Authors and Affiliations
Corresponding author
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
About this article
Cite this article
Yang, Y., Yang, Y., Hu, X. et al. BeiDou-3 broadcast clock estimation by integration of observations of regional tracking stations and inter-satellite links. GPS Solut 25, 57 (2021). https://doi.org/10.1007/s10291-020-01067-x
Received:
Accepted:
Published:
DOI: https://doi.org/10.1007/s10291-020-01067-x