Although there are already several real-time precise positioning service providers, unfortunately, not all users can use the correction information due to either cost of the service and limitation of their equipment or out of the service coverage. An alternative way is to enhance the accuracy of the predicted satellite clocks for precise real-time positioning. Based on the study of existing prediction models, an improved model combing the spectrum analysis (SA) and the generalized regression neural network (GRNN) model is proposed especially for BeiDou satellite navigation system (BDS)-2 satellites. The periodic terms and GRNN-related parameters including length and interval of sample data, as well as a smooth factor, are optimized satellite by satellite to consider satellite-specific characteristics for all the fourteen BDS-2 satellites. The improved model is validated by comparing the predicted clocks of existing models and the improved model with precisely estimated ones. The bias of the predicted clock is within ±0.5 ns over three hours and better than that of the other models and can be used for several real-time precise applications. The clock prediction is further evaluated by applying clock corrections to precise point positioning (PPP) in both static and kinematic mode for eight IGS (International GNSS Service) MGEX (Multi-GNSS Experiment) stations in the Asia-Pacific region. In the static PPP, the improved model is validated to be effective, and position accuracies of some IGS MGEX stations achieve more than 30.0% improvements on average for each component, which enables us to obtain sub-decimeter positioning. In the kinematic PPP, the improved model performs much better than the others in terms of both the convergence time and the position accuracy. The convergence time can be shortened from 1-2 h to 0.5-1 h, while the position accuracy is enhanced by 15.4%, 21.6% and 19.3% on average in east, north and up component, respectively.
Keywords: BeiDou satellite navigation system (BDS); generalized regression neural network; precise point positioning; satellite clock prediction.