Abstract
The second-generation of the Beidou Navigation Satellite System (BDS-2) has been officially providing positioning, navigation, and timing (PNT) services within the Asia–Pacific region for six years, starting from 2013. A comprehensive analysis of BDS-2 satellite broadcast navigation message performance during the past six years is highly demanded, not only for the regional service but also for the global service announced in December 2018. Therefore, this study focuses on the performance assessment of six-year BDS-2 broadcast navigation messages from 2013 to 2018 in three aspects: Message availability, anomaly detection, and signal-in-space user range errors (SIS UREs). Firstly, our results, based on International GNSS service (IGS) Multi-GNSS Experiment (MGEX) navigation files, indicate that the BDS-2 Geosynchronous Earth Orbit (GEO) and Inclined Geosynchronous Satellite Orbit (IGSO) satellites have >98.51% broadcast navigation message availability, and the Medium Earth Orbit (MEO) satellites has a ~90.03% availability. Secondly, the comparison between broadcast navigation messages and IGS precise products reveals that the User Range Accuracy Index (URAI) contained in the broadcast message could not reflect satellite performance correctly. Another satellite status indicator, space vehicle (SV) health, can only partially detect a satellite anomaly. The anomaly detection result using IGS precise products for reference shows 20241 anomalies out of 651038 broadcast navigation messages within six years. Finally, compared with the IGSO and MEO satellites, the orbit qualities of GEO satellites are significantly worse due to their large along-track orbit error. The clock performance of all satellites are at the comparable level. The satellite orbit type (GEO/IGSO/MEO) does not impact the orbit-only URE, global-average URE, and worst-case URE.
Highlights
The second-generation of the Beidou Navigation Satellite System (BDS-2) has been providing real-time positioning, navigation, and timing (PNT) services since 27 December 2012
As indispensable information for BDS-2 PNT applications, the satellite orbit and clock correction can be retrived from broadcast navigation messages [1,2]
The existence of any imperfect navigation message or frequent satellite orbit/clock adjustment would directly deteriote the performance of BDS-2 broadcast orbit and clock correction [3], which would bring potential barriers for widespread BDS-2 application
Summary
The second-generation of the Beidou Navigation Satellite System (BDS-2) has been providing real-time positioning, navigation, and timing (PNT) services since 27 December 2012. As indispensable information for BDS-2 PNT applications, the satellite orbit and clock correction can be retrived from broadcast navigation messages [1,2]. The existence of any imperfect navigation message or frequent satellite orbit/clock adjustment would directly deteriote the performance of BDS-2 broadcast orbit and clock correction [3], which would bring potential barriers for widespread BDS-2 application. It is of great importance to assess the availability, anomalies, and accuracy of BDS-2 broadcast navigation messages. Previous studies mainly focused on BDS-2 satellite anomaly detection and accuracy evaluation through analyses of BDS-2 broadcast navigation messages.
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