Lecture Notes in Electrical Engineering

Volume 651

Series Editors

Leopoldo Angrisani, Department of Electrical and Information Technologies Engineering, University of NapoliFederico II, Naples, ItalyMarco Arteaga, Departament de Control y Robótica, Universidad Nacional Autónoma de México, Coyoacán,MexicoBijaya Ketan Panigrahi, Electrical Engineering, Indian Institute of Technology Delhi, New Delhi, Delhi, IndiaSamarjit Chakraborty, Fakultät für Elektrotechnik und Informationstechnik, TU München, Munich, GermanyJiming Chen, Zhejiang University, Hangzhou, Zhejiang, ChinaShanben Chen, Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai, ChinaTan Kay Chen, Department of Electrical and Computer Engineering, National University of Singapore,Singapore, SingaporeRüdiger Dillmann, Humanoids and Intelligent Systems Laboratory, Karlsruhe Institute for Technology,Karlsruhe, GermanyHaibin Duan, Beijing University of Aeronautics and Astronautics, Beijing, ChinaGianluigi Ferrari, Università di Parma, Parma, ItalyManuel Ferre, Centre for Automation and Robotics CAR (UPM-CSIC), Universidad Politécnica de Madrid,Madrid, SpainSandra Hirche, Department of Electrical Engineering and Information Science, Technische UniversitätMünchen, Munich, GermanyFaryar Jabbari, Department of Mechanical and Aerospace Engineering, University of California, Irvine, CA,USALimin Jia, State Key Laboratory of Rail Traffic Control and Safety, Beijing Jiaotong University, Beijing, ChinaJanusz Kacprzyk, Systems Research Institute, Polish Academy of Sciences, Warsaw, PolandAlaa Khamis, German University in Egypt El Tagamoa El Khames, New Cairo City, EgyptTorsten Kroeger, Stanford University, Stanford, CA, USAQilian Liang, Department of Electrical Engineering, University of Texas at Arlington, Arlington, TX, USAFerran Martín, Departament d’Enginyeria Electrònica, Universitat Autònoma de Barcelona, Bellaterra,Barcelona, SpainTan Cher Ming, College of Engineering, Nanyang Technological University, Singapore, SingaporeWolfgang Minker, Institute of Information Technology, University of Ulm, Ulm, GermanyPradeep Misra, Department of Electrical Engineering, Wright State University, Dayton, OH, USASebastian Möller, Quality and Usability Laboratory, TU Berlin, Berlin, GermanySubhas Mukhopadhyay, School of Engineering & Advanced Technology, Massey University,Palmerston North, Manawatu-Wanganui, New ZealandCun-Zheng Ning, Electrical Engineering, Arizona State University, Tempe, AZ, USAToyoaki Nishida, Graduate School of Informatics, Kyoto University, Kyoto, JapanFederica Pascucci, Dipartimento di Ingegneria, Università degli Studi “Roma Tre”, Rome, ItalyYong Qin, State Key Laboratory of Rail Traffic Control and Safety, Beijing Jiaotong University, Beijing, ChinaGan Woon Seng, School of Electrical & Electronic Engineering, Nanyang Technological University,Singapore, SingaporeJoachim Speidel, Institute of Telecommunications, Universität Stuttgart, Stuttgart, GermanyGermano Veiga, Campus da FEUP, INESC Porto, Porto, PortugalHaitao Wu, Academy of Opto-electronics, Chinese Academy of Sciences, Beijing, ChinaJunjie James Zhang, Charlotte, NC, USA

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Jiadong Sun • Changfeng Yang • Jun XieEditors

China Satellite NavigationConference (CSNC) 2020Proceedings:Volume II

123

EditorsJiadong SunChina Aerospace Scienceand Technology CorporationBeijing, Beijing, China

Changfeng YangChina Satellite NavigationEngineering CenterBeijing, Beijing, China

Jun XieChina Academy of Space TechnologyBeijing, Beijing, China

ISSN 1876-1100 ISSN 1876-1119 (electronic)Lecture Notes in Electrical EngineeringISBN 978-981-15-3710-3 ISBN 978-981-15-3711-0 (eBook)https://doi.org/10.1007/978-981-15-3711-0

© The Editor(s) (if applicable) and The Author(s), under exclusive license toSpringer Nature Singapore Pte Ltd. 2020This work is subject to copyright. All rights are solely and exclusively licensed by the Publisher, whetherthe whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse ofillustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, andtransmission or information storage and retrieval, electronic adaptation, computer software, or by similaror dissimilar methodology now known or hereafter developed.The use of general descriptive names, registered names, trademarks, service marks, etc. in thispublication does not imply, even in the absence of a specific statement, that such names are exempt fromthe relevant protective laws and regulations and therefore free for general use.The publisher, the authors and the editors are safe to assume that the advice and information in thisbook are believed to be true and accurate at the date of publication. Neither the publisher nor theauthors or the editors give a warranty, expressed or implied, with respect to the material containedherein or for any errors or omissions that may have been made. The publisher remains neutral with regardto jurisdictional claims in published maps and institutional affiliations.

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Preface

BeiDou Navigation Satellite System (BDS) is China’s global navigation satellitesystem which has been developed independently. BDS is similar in principle to theglobal positioning system (GPS) and compatible with other global satellite navi-gation systems (GNSS) worldwide. The BDS will provide highly reliable andprecise positioning, navigation and timing (PNT) services as well as short-messagecommunication for all users under all-weather, all-time and worldwide conditions.

China Satellite Navigation Conference (CSNC) is an open platform for academicexchanges in the field of satellite navigation. It aims to encourage technologicalinnovation, accelerate GNSS engineering and boost the development of the satellitenavigation industry in China and in the world.

The 11th China Satellite Navigation Conference (CSNC 2020) is held duringNovember 22–25, 2020, Chengdu, China. The theme of CSNC2020 is “GNSS,New Global Era,” including technical seminars, academic exchanges, forums,exhibitions and lectures. The main topics are as followed:

Conference Topics

S01 Satellite Navigation ApplicationsS02 Navigation and Location-based ServiceS03 Satellite Navigation Signal and Signal ProcessingS04 Satellite Orbit and System Error ProcessingS05 Spatial Frames and Precise PositioningS06 Time Primary Standard and Precision Time ServiceS07 Satellite Navigation Augmentation TechnologyS08 Test and Assessment TechnologyS09 User Terminal TechnologyS10 PNT System and Multi-source Fusion NavigationS11 Anti-interference and Anti-spoofing TechnologyS12 Policies, Regulations, Standards and Intellectual PropertiesS13 Technologies for Navigation of Autonomous Systems

v

The proceedings (Lecture Notes in Electrical Engineering) have 201 papers inthirteen topics of the conference, which were selected through a strict peer reviewprocess from 493 papers presented at CSNC2020. In addition, another 219 paperswere selected as the electronic proceedings of CSNC2020, which are also indexedby “China Proceedings of Conferences Full-text Database (CPCD)” of CNKI andWan Fang Data.

We thank the contribution of each author and extend our gratitude to 278referees and 57 session chairmen who are listed as members of the editorial board.The assistance of CNSC2020’s organizing committees and Springer editorial officeis highly appreciated.

vi Preface

Editorial Board

Topic: S01: Satellite Navigation Applications

Chairman

Shuanggen Jin Shanghai Astronomical Observatory, ChineseAcademy of Sciences, Shanghai, China

Vice-chairmen

Dangwei Wang Beijing UniStrong Science & TechnologyCo., Ltd., Shaanxi, China

Shuangcheng Zhang Chang’an University, Shaanxi, ChinaWu Chen Hong Kong Polytechnic University, Hong Kong,

China

Topic: S02: Navigation and Location-Based Service

Chairman

Yamin Dang Chinese Academy of Surveying and Mapping,Beijing, China

Vice-chairmen

Baoguo Yu The 54th Research Institute of China ElectronicsTechnology Group Corporation, Hebei, China

Wenjun Zhao Beijing Satellite Navigation Center, Beijing,China

Fuping Sun Information Engineering University, Henan,China

Kefei Zhang RMIT University, Melbourne, Australia

vii

Topic: S03: Satellite Navigation Signal and SignalProcessing

Chairman

Xiaochun Lu National Time Service Center, Chinese Academyof Sciences, Shaanxi, China

Vice-chairmen

Yang Li The 29th Research Institute of China ElectronicsTechnology Group Corporation, Sichuan,China

Zheng Yao Tsinghua University, Beijing, ChinaYubai Li University of Electronic Science and Technology

of China, Sichuan, ChinaTianxing Chu Texas A&M University-Corpus Christi,

Corpus Christi, Texas, USA

Topic: S04: Satellite Orbit and System Error Processing

Chairman

Xiaogong Hu Shanghai Astronomical Observatory, ChineseAcademy of Sciences, Shanghai, China

Vice-chairmen

Hui Yang China Academy of Space Technology, Beijing,China

Geshi Tang Beijing Aerospace Control Center, Beijing, ChinaLi Liu Beijing Satellite Navigation Center, Beijing,

ChinaZhiguo Deng German Research Centre for Geosciences,

Potsdam, Germany

Topic: S05: Spatial Frames and Precise Positioning

Chairman

Qile Zhao Wuhan University, Hubei, China

viii Editorial Board

Vice-chairmen

Jianwen Li Information Engineering University, Henan,China

Anmin Zeng Xi’an Institute of Surveying and Mapping,Shaanxi, China

Yanming Feng Queensland University of Technology, Brisbane,Australia

Topic: S06: Time Primary Standard and PrecisionTime Service

Chairman

Lianshan Gao The 203rd Research Institute of China AerospaceScience and Industry Corporation, Beijing,China

Vice-chairmen

Chunhao Han Beijing Satellite Navigation Center, Beijing,China

Xiaohui Li National Time Service Center, Chinese Academyof Sciences, Shaanxi, China

Pascal Rochat SpectraTime, Neuchatel, Switzerland

Topic: S07: Satellite Navigation Augmentation Technology

Chairman

Rui Li Beihang University, Beijing, China

Vice-chairmen

Qun Ding The 20th Research Institute of China ElectronicsTechnology Group Corporation, Shaanxi,China

Shaojun Feng Imperial College London Qianxun PositioningNetwork, Co., Ltd., Shanghai, China

Yansong Meng Xi’an Branch of China Academy of SpaceTechnology, Shaanxi, China

Liwen Dai John Deere, Torrance, CA, USA

Editorial Board ix

Topic: S08: Test and Assessment Technology

Chairman

Xiaolin Jia Xi’an Institute of Surveying and Mapping,Shaanxi, China

Vice-chairmen

Jianping Cao Air Force Equipment Institute, Beijing, ChinaWenxiang Liu National University of Defense Technology,

Hunan, ChinaYang Gao University of Calgary, Alberta, Canada

Topic: S09: User Terminal Technology

Chairman

Mingquan Lu Tsinghua University, Beijing, China

Vice-chairmen

Dun Wang Space Star Technology Co., Ltd., Beijing, ChinaZishen Li Aerospace Information Research Institute,

Chinese Academy of Sciences, Beijing, ChinaSang Jeong Lee Chungnam National University, Daejeon,

South Korea

Topic: S10: PNT System and Multi-source FusionNavigation

Chairman

Zhongliang Deng Beijing University of Posts andTelecommunications, Beijing, China

Vice-chairmen

Hong Yuan Academy of Opto-Electronics, Chinese Academyof Sciences, Beijing, China

Yongbin Zhou Institute of Aerospace Engineering, Beijing,China

Chengjun Guo University of Electronic Science and Technologyof China, Sichuan, China

Jinling Wang University of New South Wales, Australia

x Editorial Board

Topic: S11: Anti-interference and Anti-spoofing Technology

Chairman

Hong Li Tsinghua University, Beijing, China

Vice-chairmen

Wei Wang The 20th Research Institute of China ElectronicsTechnology Group Corporation, Shaanxi,China

Xiaomei Tang National University of Defense Technology,Hunan, China

Lidong Zhu University of Electronic Science and Technologyof China, Sichuan, China

Topic: S12: Policies, Regulations, Standardsand Intellectual Properties

Chairman

Huiying Li Electronic Intellectual Property Center, Ministryof Industry and Information Technology,PRC Beijing, China

Vice-chairmen

Junlin Yang Beihang University, Beijing, ChinaDaiping Zhang China Defense Science and Technology

Information Center, Beijing, ChinaYonggang Wei China Academy of Aerospace Standardization

and Product Assurance, Beijing, China

Topic: S13: Technologies for Navigation of AutonomousSystems

Chairman

Naser El-Sheimy University of Calgary, Alberta, Canada

Vice-chairmen

Xingqun Zhan Shanghai Jiao Tong University, Shanghai, ChinaHaihong Wang General Design Department of Beijing Space

Vehicle, Beijing, China

Editorial Board xi

Wenbin Gong Shanghai Institute of Micro-satellite Innovation,Chinese Academy of Sciences, Shanghai,China

Scientific Committee

ChairmanJiadong Sun China Aerospace Science and Technology

Corporation, Beijing, China

Vice-chairmenRongjun Shen China Satellite Navigation System Committee,

Beijing, ChinaQisheng Sui China Satellite Navigation System Committee,

Beijing, ChinaChangfeng Yang China Satellite Navigation System Committee,

Beijing, ChinaZuhong Li China Academy of Space Technology, Beijing,

ChinaShusen Tan Beijing Satellite Navigation Center, Beijing,

China

Executive ChairmenJingnan Liu Wuhan University, Hubei, ChinaYuanxi Yang China National Administration of GNSS

and Applications, Beijing, ChinaShiwei Fan China Satellite Navigation Engineering Center,

Beijing, ChinaJun Xie China Academy of Space Technology, Beijing,

ChinaLanbo Cai China Satellite Navigation Office, Beijing, China

Committee Members (By Surnames Stroke Order)Xiancheng Ding China Electronics Technology Group

Corporation, Beijing, ChinaQingjun Bu China National Administration of GNSS

and Applications, Beijing, ChinaQuan Yu Peng Cheng Laboratory, Shenzhen, China

xii Editorial Board

Wei Wang China Aerospace Science and TechnologyCorporation, Beijing, China

Liheng Wang China Aerospace Science and TechnologyCorporation, Beijing, China

Yuzhu Wang Shanghai Institute of Optics and Fine Mechanics,Chinese Academy of Sciences, Shanghai,China

Xiaoyun Wang China Mobile Communications Group Co., Ltd.,Beijing, China

Lihong Wang Legislative Affairs Bureau of the CentralMilitary, Beijing, China

Guoxiang Ai National Astronomical Observatories, ChineseAcademy of Sciences, Beijing, China

Lehao Long China Aerospace Science and TechnologyCorporation

Shuhua Ye Shanghai Astronomical Observatories, ChineseAcademy of Sciences, Shanghai, China

Chengqi Ran China Satellite Navigation Office, Beijing, ChinaWeimin Bao China Aerospace Science and Technology

Corporation, Beijing, ChinaDaren Lv The Institute of Atmospheric Physics, Chinese

Academy of Sciences, Beijing, ChinaYongcai Liu China Aerospace Science and Industry

Corporation, Beijing, ChinaZhaowen Zhuang National University of Defense Technology,

Hunan, ChinaQifeng Xu PLA Information Engineering University, Henan,

ChinaHouze Xu Institute of Geodesy and Geophysics, Chinese

Academy of Sciences, Hubei, ChinaTianchu Li National Institute of Metrology, Beijing, ChinaJiancheng Li Wuhan University, Hubei, ChinaMinlin Li China Society for World Trade Organization

Studies, Beijing, ChinaYirong Wu The Aerospace Information Research Institute,

Chinese Academy of Sciences, Beijing, ChinaWeiqi Wu Xichang Satellite Launch Center, Sichuan, ChinaHaitao Wu Satellite Navigation Headquarters, Chinese

Academy of Sciences, Beijing, ChinaManqing Wu China Electronics Technology Group

Corporation, Beijing, ChinaGuirong Min China Academy of Space Technology, Beijing,

China

Editorial Board xiii

Jun Zhang Beijing Institute of Technology, Beijing, ChinaXixiang Zhang The 29th Research Institute of China Electronics

Technology Group Corporation, Sichuan,China

Lvqian Zhang China Aerospace Science and TechnologyCorporation, Beijing, China

Junyong Chen National Administration of Surveying, Mappingand Geo-information, Beijing, China

Benyao Fan China Academy of Space Technology, Beijing,China

Dongjin Luo China People’s Liberation Army, Beijing, ChinaZhixin Zhou Space Engineering University, Beijing, ChinaJiancheng Fang Beihang University, Beijing, ChinaHuilin Jiang Changchun University of Science

and Technology, Jilin, ChinaGuohong Xia China Aerospace Science and Industry

Corporation, Beijing, ChinaShuren Guo China Satellite Navigation Engineering Center,

Beijing, ChinaPeikang Huang China Aerospace Science and Industry

Corporation, Beijing, ChinaHuikang Huang Ministry of Foreign Affairs of the People’s

Republic of China, Beijing, ChinaChong Cao China Research Institute of Radio Wave

Propagation (CETC 22), Beijing, ChinaFaren Qi China Academy of Space Technology, Beijing,

ChinaRongsheng Su China People’s Liberation Army, Beijing, ChinaYi Zeng China Electronics Corporation, Beijing, ChinaZiqing Wei Xi’an Institute of Surveying and Mapping,

Shaanxi, China

Executive Members (By Surnames Stroke Order)Zhongliang Deng Beijing University of Posts and

Telecommunications, Beijing, ChinaXiaochun Lu National Time Service Center, Chinese Academy

of Sciences, Shaanxi, ChinaHong Li Tsinghua University, Beijing, ChinaRui Li Beihang University, Beijing, ChinaHuiying Li Electronic Intellectual Property Center, Ministry

of Industry and Information Technology, PRCBeijing, China

Jun Shen Beijing UniStrong Science & TechnologyCo., Ltd., Beijing, China

xiv Editorial Board

Mingquan Lu Tsinghua University, Beijing, ChinaShuanggen Jin Shanghai Astronomical Observatory, Chinese

Academy of Sciences, Shanghai, ChinaXiaogong Hu Shanghai Astronomical Observatory, Chinese

Academy of Sciences, Shanghai, ChinaQile Zhao Wuhan University, Hubei, ChinaXiaolin Jia Xi’an Institute of Surveying and Mapping,

Shaanxi, ChinaYamin Dang Chinese Academy of Surveying & Mapping,

Beijing, ChinaLianshan Gao The 203th Research Institute of China Aerospace

Science & Industry Corporation, Beijing,China

Naser El-Sheimy University of Calgary, Alberta, Canada

Organizing Committee

DirectorChengqi Ran China Satellite Navigation Office, Beijing, China

Deputy DirectorsShigang Jing Science and Technology Department of Sichuan

Province, Sichuan, ChinaXiaobin Ding Chengdu Science and Technology Bureau,

Sichuan, ChinaHongbing Xu University of Electronic Science and Technology

of China, Sichuan, ChinaJun Yang China Satellite Navigation Office, Beijing, China

Secretary-GeneralHaitao Wu Satellite Navigation Headquarters, Chinese

Academy of Sciences, Beijing, China

Deputy Secretary-GeneralWeina Hao Satellite Navigation Headquarters, Chinese

Academy of Sciences, Beijing, China

Editorial Board xv

Deputy SecretariesZhong Tian Research Institute of Electronic Science

and Technology, University of ElectronicScience and Technology of China, Sichuan,China

Wenhai Jiao China Satellite Navigation Engineering Center,Beijing, China

Mingquan Lu Tsinghua University, Beijing, ChinaJun Lu China Satellite Navigation Engineering Center,

Beijing, ChinaZhaoyang Ding High-Tech Department of Science

and Technology Department of SichuanProvince, Sichuan, China

Hong Nie Cooperation Office of Chengdu Scienceand Technology Bureau, Sichuan, China

Committee Members (By Surnames Stroke Order)Li Wang International Cooperation Research Center, China

Satellite Navigation Office, Beijing, ChinaAn Deng Mianyang Economic Cooperation Bureau,

Sichuan, ChinaYing Liu China Satellite Navigation Engineering Center,

Beijing, ChinaShaoqian Li National Key Laboratory of Science and

Technology on Communications, Universityof Electronic Science and Technology,Sichuan, China

Zhiwei Tang Office of University of Electronic Science andTechnology, Sichuan, China

Xiuwan Chen Peking University, Beijing, ChinaLu Chen Beijing Institute of Space Science and

Technology Information, Beijing, ChinaXu Chen Chengdu Science and Technology Bureau,

Sichuan, ChinaJianqiao Yang 29 Institute of China Electronics Technology

Group Corporation, Sichuan, ChinaHaiguang Yang Office of Scientific Research and Development

University of Electronic Science andTechnology of China, Sichuan, China

Jun Shen Beijing UniStrong Science & Technology Co.,Ltd., Beijing, China

Di Xiao Beidou Union Technology Co., Ltd., Beijing,China

xvi Editorial Board

Jinjun Zheng China Academy of Space Technology, Beijing,China

Dongning Lin Beijing Shunyi District Economic andInformation Commission, Beijing, China

Wenjun Zhao Beijing Satellite Navigation Center, Beijing,China

Qile Zhao Wuhan University, Hubei, ChinaQingjun Zu Chengdu hi tech West Zone Science and

Technology Bureau, Sichuan, ChinaMin Shui The National Remote Sensing Center of China,

Beijing, ChinaWeizheng Pei High Tech Department of Science and

Technology Department of Sichuan Province,Sichuan, China

Editorial Board xvii

Contents

Satellite Orbit and System Error Processing

Modeling of BDS Positioning Errors Due to IonosphericScintillation and Its Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3Dun Liu, Xiao Yu, Jian Feng, and Weimin Zhen

A BDSPHERE Solar Radiation Pressure Modelfor BDS GEO Satellites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16Rui Guo, Xiaojie Li, Jie Xin, Shan Wu, and Shuai Liu

Test and Evaluation of the Distributed Autonomous OrbitDetermination with the BDS Inter-satellite Ranging Data . . . . . . . . . . . 27Jie Xin, Ziqiang Li, Xiaojie Li, Rui Guo, Dongxia Wang, and Shuai Liu

DTM2013 Model Parameter Inversion and CorrelationAnalysis Between Its Accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36Wenhui Cui, Wei Qu, Haiyue Li, Ning Chen, Nan Ye, and Zhenyu Sun

A Method of Combined Orbit Determination of Multi-source Datawith Modified Helmert Variance Component Estimation . . . . . . . . . . . . 47Laiping Feng, Rengui Ruan, and Anmin Zeng

The Influence of Station Distribution on the BeiDou-3 Inter-satelliteLink Enhanced Orbit Determination . . . . . . . . . . . . . . . . . . . . . . . . . . . 58Yufei Yang, Yuanxi Yang, Rui Guo, Chengpan Tang,and Zhixue Zhang

Initial Results of BDS3 GEO Orbit Determinationwith Inter-satellite Link Measurements . . . . . . . . . . . . . . . . . . . . . . . . . 71Zongbo Huyan, Jun Zhu, Yanrong Wang, and Xia Ren

Evaluation and Analysis of Orbit Determination Accuracyof BDS Satellite Under Clock Offset Constraint . . . . . . . . . . . . . . . . . . . 83Shuai Liu, Rui Guo, Xiaojie Li, and Qian Chen

xix

A Combined RDSS/RNSS Orbit Determination Methodto Improve the Service Performance of RDSS . . . . . . . . . . . . . . . . . . . . 97Xiaojie Li, Rui Guo, Chengpan Tang, Shuanglin Huang, Shuai Liu,Jie Xin, Junyu Pu, and Jianbing Chen

Error Analysis and Strategy Optimization of East-West Controlfor BEIDOU GEO Satellite . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106Xiaoying Wei, Lei Shi, Quanjun Li, Lusha Wang, and Donglin Li

Estimation of BeiDou Satellites Antenna Phase Center Offsets . . . . . . . . 116Yanan Fang, Jie Li, Chong Wang, and Jiasong Wang

Influence Analysis of Multi-LEO Augmentation MEO Satellite OrbitDetermination Under Regional Station Layout . . . . . . . . . . . . . . . . . . . . 126Tian Zeng, Lifen Sui, Laiping Feng, and Xiaolin Jia

A New Ambiguity Resolution Method Applied to UncombinedPrecise Orbit Determination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136Tian Zeng, Xiaodong Qin, Lifen Sui, Rengui Ruan, Xiaolin Jia,and Guorui Xiao

Study on Operation Safety of RNSS and Long-Term Evolutionof Disposal Orbit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147Jing Zhou and Hui Yang

An Angular Momentum Allocation Strategy to Extendthe Available Time of GEO Navigation Satellites . . . . . . . . . . . . . . . . . . 160Zhen Cui, Bin Chen, Jiajia Feng, Ye Ji, and Weijie Liu

Quality Analysis of Multi-GNSS Observation DataBased on IGMAS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171Houzhe Zhang, Kai Shao, Defeng Gu, and Xiaojun Duan

Orbit Residual Analysis of BDS Satellite Based on RangingInformation and Telemetry Parameters . . . . . . . . . . . . . . . . . . . . . . . . . 186Xu Zhang, Hui Yang, Qiuli Chen, and Chen Wang

Spatial Frames and Precise Positioning

Modeling and Assessment of BDS/GPS Triple-FrequencyPrecise Point Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201Jie Lv, Zhouzheng Gao, and Junhuan Peng

Baseline-Constrained GNSS Single-Frequency Single-Epoch AttitudeDetermination Based on Attitude Domain Search . . . . . . . . . . . . . . . . . 211Hongtao Wu, Yu Jiao, and Longnan Bao

Estimation of GLONASS Carrier Phase Inter-frequency Biases . . . . . . 223Wei Yang, Qinggen Yi, Zhuoshan Wu, and Guoli Lin

xx Contents

An Improved Clock Jump Detection Method in Real - Time PPP . . . . . 234Kaidi Jin, Hongzhou Chai, Changjian Liu, and Chuhan Su

Functional Model Compensation of Residual Systematic Errorsin GNSS Precise Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242Zhetao Zhang, Bofeng Li, Yunzhong Shen, and Xiufeng He

The Detection and Repair of BDS Triple-Frequency Cycle-Slipof Weakening the Influence of Ionosphere . . . . . . . . . . . . . . . . . . . . . . . 255Jiale Lin, Shubo Qiao, Ke Yan, and Xi Zhang

First Implementation and Evaluation of Five SystemsNetwork RTK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265Xiyang He and Jinpei Chen

Analysis and Modeling of the Inter-system Bias BetweenBDS-2 and BDS-3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279Ziyuan Song, Junping Chen, Bin Wang, and Chao Yu

Single-Frequency GNSS-Based Measurement-Domain AttitudeDetermination Algorithm with Inter-system Bias Calibration . . . . . . . . 290Jingze Li, Liang Li, Jiachang Jiang, Chun Jia, and Lin Zhao

Phase Multipath Detection and Its Effect on PositioningBased on Multi-GNSS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304Zhiwen Ren, Cuilin Kuang, and Zhetao Zhang

Postseismic Deformation of the MS 8.1 Nepal Earthquakein 2015 from GPS Observations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318Xiaoning Su, Lianbi Yao, and Guojie Meng

Performance Assessment of Real-Time Precise Point PositioningUsing SSR Corrections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331Ruijin Qiu, Zheyu Feng, Chenzhong Gu, Zhimin Yuan, and Jianwen Li

Comparative Analysis of Velocity Estimation Methods for GNSSCoordinate Time Series in Southwest China . . . . . . . . . . . . . . . . . . . . . 346Chunqiao Xie, Cuilin Kuang, and Jiugang Xie

Research on Position-Domain GNSS Multipath Error ModellingMethod Based on Sidereal Filtering . . . . . . . . . . . . . . . . . . . . . . . . . . . . 360Shangwei Han, Beiping Wu, Guangxing Wang, and Zhihao Yin

Score Test Method of Real-Time Cycle Slip Detection Consideringthe Influence of Gross Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 368Lei Xia, Yufeng Yang, Chenxin Qing, Changsong Mei, and Xiong Pan

Precision Analysis of Terrestrial Reference Frame ParametersBased on EOP A-Priori Constraint Model . . . . . . . . . . . . . . . . . . . . . . . 378Jiao Liu, Junping Chen, and Bin Wang

Contents xxi

Time Primary Standard and Precision Time Service

Research on Main Kinds of Frequency Biases of Optically-PumpedCesium Beam Frequency Standard . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391Weibin Xie, Xuan He, Shengwei Fang, Nan Chen, Jiachen Yu,Qing Wang, Xianghui Qi, and Xuzong Chen

Key Parameters Control of Optically Pumped Cesium BeamAtomic Clock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400Xuan He, Weibin Xie, Shengwei Fang, Nan Chen, Qing Wang,Xianghui Qi, and Xuzong Chen

Considering Receiver Clock Modeling in PPP Time Transferwith BDS-3 Triple-Frequency Un-combined Observations . . . . . . . . . . . 410Shuo Ding, Yulong Ge, Peipei Dai, WeiJin Qin, Xuhai Yang, and Ye Yu

Performance Evaluation and Analysis of Galileo SatelliteClock in Orbit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 422Yufeng Yang, Changsong Mei, Chenxin Qing, Lei Xia, and Xiong Pan

A Method for Evaluating BDS Real-Time Satellite Clock OffsetBased on Satellite-Specific Weighting . . . . . . . . . . . . . . . . . . . . . . . . . . . 433Zhimin Yuan, Changsheng Cai, Yanjie Li, and Guang Liu

Controlling the Microwave Power in Optically Pumped CesiumBeam Frequency Standard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445Nan Chen, Qing Wang, Xuan He, Weibin Xie, Shengwei Fang,Zezheng Xiong, Xianghui Qi, and Xuzong Chen

Performance Analysis of the On-board Atomic Clocksfor BeiDou-3 Satellites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453Yunfeng Sun, Yansong Meng, Erwang Du, Guanwen Huang,and Wei Xie

New Research Progress in Active Hydrogen Maser in BIRMM . . . . . . . 463Tiezhong Zhou, Mengzhi Wang, Shiqing Ren, Qiong Wu,Xiumei Wang, Chenyuan Zhang, Chunyan Cao, Yaxuan Liu,Liang Wang, and Lianshan Gao

A Method of Remote Nanosecond Time Reproduction . . . . . . . . . . . . . . 472Pan Du, Longxia Xu, Ya Liu, Xiaohui Li, and Feng Zhu

Research on Time-Frequency Synchronization Technologyof Multistatic Joint Observation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488Ya Liu, Duo-sheng Fan, Jia-chen Wang, Rui-qiong Chen,and Xiao-hui Li

Research on BDS/GPS Carrier Phase Timeand Frequency Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 500Xiang-lei Wang, Feng-feng Shi, Fang-jun Yan, and Jia-min Fang

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A Rubidium Clock Taming Algorithm Based on ModifiedGrey Model and PID Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510Jingyan Zhao, Xinyu Miao, and Yaojun Qiao

The Method of BDS PPP Time Transfer ConsideringClock Modeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520Yulong Ge, Shuo Ding, Peipei Dai, Xuhai Yang, WeiJin Qin,and Ye Yu

The Long-Term Performance and Life Test of the SpaceborneRubidium Atomic Clock Under Vacuum on the Ground . . . . . . . . . . . . 536Feng Xu, Jia Yu Hu, Ke Liang He, Min Cheng, Ruo Feng Cao,Wei Zhang, Chang Liu, Tao Yang, Chun Bo Zhao, Er Wang Du,and Yu Ling He

Discrete GM (1,1) Based on Sequence of Stepwise Ratioin the Application of the BDS Satellite Clock Bias Prediction . . . . . . . . 544Changsong Mei, Yufeng Yang, Chenxin Qing, Lei Xia, and Xiong Pan

Progress Towards a Miniaturized Mercury Ion Clockfor Space Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 557Hao Liu, Yihe Chen, Bibo Yan, Ge Liu, and Lei She

Research on a New On-orbit Control Strategy of OnboardAtomic Clock of Navigation Satellite . . . . . . . . . . . . . . . . . . . . . . . . . . . 562Maolei Wang, Jun Lu, Shenghong Xiao, Shichao Wang, and Sijia Yang

BDS PPP Ambiguity Resolution and Its Application on Timeand Frequency Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 573Daqian Lv, Fangling Zeng, Yijing Han, and Xiaofeng Ouyang

Satellite Navigation Augmentation Technology

Non-Gaussian Carrier-Derived Doppler Integrity FDEfor Multiple GNSS Satellites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 589Wenying Lei, Hong Han, Wenshan Liu, Fei Ling, and Yansong Meng

Analysis of Ionospheric Grid Model Performance for China Area . . . . . 598Dun Liu, Xiao Yu, Liang Chen, and Weimin Zhen

Type B Fault Integrity Monitoring for BDS Broadcast Ephemeris . . . . 611Liang Li, Yuanyuan Liu, Chun Cheng, and Hui Li

Design and Analysis of Beidou Global Integrity System Basedon LEO Augmentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 624Yizhe Jia, Lang Bian, Yueling Cao, Yansong Meng, and Lixin Zhang

Method of GNSS Security Augmentation Based on LEO Satellite . . . . . 634Tao Yan, Ying Wang, Xiao Liu, Lang Bian, and Yansong Meng

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Performance Analysis of a Navigation System Combining BeiDouwith LEO Communication Constellation . . . . . . . . . . . . . . . . . . . . . . . . 643Xing Li, Xia Guo, Bing Zhu, and Shumin Geng

Error Modeling and Integrity Risk Analysis in SPP . . . . . . . . . . . . . . . 651Yuan Song, Qingsong Li, Yi Dong, Wanli Jian, Dingjie Wang,and Jie Wu

Research on Software Defined Payload ReconstructionTechnology Scheme . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 663Guochun Wu, Lei Wang, and Fei Ling

Sparse Reconstruction of Regional Ionospheric TomographyBased on Beidou Ground Based Augmentation System . . . . . . . . . . . . . 673Yun Sui, Haiyang Fu, Denghui Wang, Shaojun Feng, Zonghua Ding,Feng Xu, and Yaqiu Jin

Un-difference PPP Method and Performance AssessmentBased on Regional Ionospheric Model . . . . . . . . . . . . . . . . . . . . . . . . . . 684Han Wang, Yun Sui, Denghui Wang, Haiyang Fu, and Shaojun Feng

Online Integrity Alert Limit Determination Methodfor Autonomous Vehicle Navigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 696Qian Meng, Li-Ta Hsu, and Shaojun Feng

Analysis of GBAS Integrity Requirements Basedon Single Frequency Beidou Supporting CAT III . . . . . . . . . . . . . . . . . 707Congbing Su, Anshi Wang, and Bin Li

Analysis of the Spatial Correlation of Ionospherein the Middle Latitude Region . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 719Zheng Yuan, Letao Zhou, Yinghao Zhao, and Huchao Xu

Derivation of Integrity Allocation for Satellite BasedAugmentation System Ionosphere Monitors . . . . . . . . . . . . . . . . . . . . . . 727Yan Zhang, Xiaomei Tang, Yangbo Huang, Long Huang, and Gang Ou

A Statistical Study of the Ionospheric Anomalies Affecting SBASSafety Detected over China Area in 2015 . . . . . . . . . . . . . . . . . . . . . . . . 739Yaxi Liu, Rui Li, Junjie Bao, and Yutong Liu

Applicability Analysis of Kriging Methodology for China . . . . . . . . . . . 751Junjie Bao, Rui Li, and Zhigang Huang

Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 763

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