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Currently, the Global Navigation Satellite System (GNSS) mainly uses the satellites in Medium Earth Orbit (MEO) to provide position, navigation, and timing (PNT) service. The weak navigation signals limit its usage in deep attenuation environments, and make it easy to interference and counterfeit by jammers or spoofers. Moreover, being far away to the Earth results in relatively slow motion of the satellites in the sky and geometric change, making long time needed for achieved centimeter positioning accuracy. By using the satellites in Lower Earth Orbit (LEO) as the navigation satellites, these disadvantages can be addressed. In this contribution, the advantages of navigation from LEO constellation has been investigated and analyzed theoretically. The space segment of global Chinese BeiDou Navigation Satellite System consisting of three GEO, three IGSO, and 24 MEO satellites has been simulated with a LEO constellation with 120 satellites in 10 orbit planes with inclination of 55 degrees in a nearly circular orbit (eccentricity about 0.000001) at an approximate altitude of 975 km. With simulated data, the performance of LEO constellation to augment the global Chinese BeiDou Navigation Satellite System (BeiDou-3) has been assessed, as one of the example to show the promising of using LEO as navigation system. The results demonstrate that the satellite visibility and position dilution of precision have been significantly improved, particularly in mid-latitude region of Asia-Pacific region, once the LEO data were combined with BeiDou-3 for navigation. Most importantly, the convergence time for Precise Point Positioning (PPP) can be shorted from about 30 min to 1 min, which is essential and promising for real-time PPP application. Considering there are a plenty of commercial LEO communication constellation with hundreds or thousands of satellites, navigation from LEO will be an economic and promising way to change the heavily relay on GNSS systems.

UAV swarms possess unique advantages in performing various tasks and have been successfully applied across multiple scenarios. Accurate navigation serves as the foundation and prerequisite for executing these tasks. Unlike single UAV localization, swarms enable the sharing and propagation of precise positioning information, which enhances overall swarm localization accuracy but also introduces the issue of uncertainty propagation. To address this challenge, this paper proposes an integrated navigation and positioning method that models, propagates, and mitigates uncertainties. To tackle the issue of uncertainty in information quality caused by outliers in external correction data, a robust integrated navigation method for nonlinear systems is derived based on a normal gamma distribution model. Considering uncertainty propagation, a statistical linearization model for nonlinear systems is developed. Building upon this model, an augmented measurement nonlinear least squares positioning method is applied, achieving further improvements in localization accuracy. Simulation experiments demonstrate that the proposed method, which thoroughly accounts for the effects of multiple uncertainties, can achieve robust tracking and provide relatively accurate positioning results.

The global navigation satellite system (GNSS) is developing rapidly, and the related market applications and scientific research are increasing. Studies based on large low Earth orbit (LEO) satellite constellations have become research hotspots. The global coverage of the LEO constellation can reduce the dependence of navigation satellites on ground-monitoring stations and improve the precise orbit determination (POD) accuracy of navigation satellites. In this paper, we simulate various LEO satellite constellations (with 12, 30, and 60 satellites), along with ground stations’ observation data, to examine the impact of LEO satellites on the precision of the BeiDou-3 Global Navigation Satellite System (BDS-3) in terms of its POD accuracy. Using the simulated observation data of both LEO satellites and ground-monitoring stations, we analyze the integrated orbit determination for the LEO and BDS-3 satellites. The findings reveal that the 3D orbital accuracy of BDS-3 is 9.51 dm by using only seven ground-monitoring stations, and it is improved to a centimeter level after adding the LEO constellations. As the number of LEO constellation satellites increases, the impact on improving accuracy gradually diminishes. In terms of time synchronization accuracy in the BDS-3, compared to the results of clock offset using only ground stations, the addition of 12 LEO satellites resulted in an improvement of 49% for RMS1(root mean square) and 52% for RMS2 (standard deviation), the addition of 30 LEO satellites resulted in an improvement of 66% for RMS1 and 70% for RMS2, and the addition of 60 LEO satellites resulted in an improvement of 87% for RMS1 and 90% for RMS2. The integrated orbit determination of the LEO and BDS-3 satellites constellation greatly improves the accuracy of time synchronization. In addition, we also use simulated inter-satellite link (ISL) data to perform enhanced BDS-3 satellites POD and time synchronization experiments. The experiments showed that the orbit determination accuracy of the seven sta (seven stations) and ISL scheme is comparable to that of the seven sta and LEO12 scheme, and that the time synchronization accuracy of the seven sta and ISL scheme is slightly worse. The preliminary experiments showed that the LEO satellite could enhance the orbit determination accuracy of BDS-3 and obtain a higher time synchronization accuracy.

Geostationary Earth Orbit (GEO) satellites play a significant role in the space segment of the Chinese Area Navigation System. The C-Band transfer ranging method developed by the National Time Service Center (NTSC) has been widely used in the Chinese Area Positioning System (CAPS), with its advantages of separating satellite ranging from time synchronization and being unaffected by weather. The explicit ranging correction models for the C-Band transfer ranging method are introduced in detail in this article for the first time. Precise Orbit Determination (POD) using C-Band pseudo-range observation of GEO satellite 2010-001A in July 2012 has been conducted. The residual Root Mean Square (RMS) of each site and POD are analysed with orbit difference over overlaps of adjacent orbit arcs. Moreover, the orbit of the GEO satellite has been evaluated by Satellite Laser Ranging (SLR) data from both domestic and foreign SLR sites for the first time. The residual RMS of POD using C-Band observation is better than 0·1 m, and the orbit difference over overlaps of adjacent orbit arcs is better than 3 m. In addition, the residual RMS in line-of-sight for a SLR site in China are better than 1 m, while the RMS for the Yarragadee site in Australia is about 3·4 m. It has been shown that the GEO satellite orbit accords very well with the C-Band observation. Also, the distribution of CAPS stations affects the orbit precision. All sites in CAPS are now located in China with low and medium latitudes. The residual RMS of the SLR site in the southern hemisphere is larger than that of the site in China.

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.

In order to more restrict the transverse orbit error, a new method named “differenced ranges between slave stations by transfer”, similar to Very Long Baseline Interferometry (VLBI) observation, has been developed in the Chinese Area Positioning System (CAPS). This method has the number of baselines added, the baseline length increased and the data volume enlarged. In this article, the principle of “differenced ranges between slave stations by transfer” has been described in detail, with the clock offset between slave stations and system error which affects the precision of the differenced ranges observation being discussed. Using this method, the differenced observation of the SINOSAT-1 satellite with C-band between slave stations from 6 to 13 June 2005 was conducted. Then a comparison was made between the accuracy of orbit determination and orbit prediction. A conclusion can be drawn that the combination of pseudo-range receiving the own-station-disseminated signal and the differenced range observation between slave-slave stations has a higher orbit determination and prediction accuracy than using only the former.

P229; 实现并给出了基于自动机器人的TRM57971.00/NONE和TRM59800.00/NONE两类天线在GPS L1和L2以及北斗B1 I和B2 I频点的相位中心改正,并将两者相位中心改正结果进行了比较和分析.在此基础上,利用2016年4月9日到2016年5月8日共30天配有以上两类天线的约31个IGS MG EX测站数据,在是否考虑接收机端北斗频点相位中心偏差以及偏差和变化的条件下确定了3类北斗卫星精密轨道.结果表明考虑接收机天线北斗频点相位中心改正能够有效改善北斗IGSO和MEO卫星重叠轨道差异,但是考虑相位中心偏差以及变化的轨道改善幅度与仅考虑相位中心偏差相当.具体而言,考虑接收机端北斗频点相位中心改正后北斗IGSO卫星轨道在切向、法向、径向的重叠轨道差异分别改善了63.1 mm、21.5 mm和6.7 mm;MEO卫星轨道重叠精度则在切向、径向和法向分别改善了217.1 mm、75.8 mm和23.3 mm.同时北斗单系统精密单点定位相对于单GPS系统精密单点定位结果在高程方向的一致性可以提高约10.0 mm.

The phase center corrections (PCCs) for TRM57971.00/NONE and TRM59800.00/NONE antennas on GPS L1 and L2 as well as BDS B1I and B2I frequencies were calibrated by automatic robot. Additionally, the differences between calibrated PCCs of GPS L1 and L2 as well as BDS B1I and B2I were compared. Three kinds of BDS precise orbit products were determined with or without accounting for the receiver antenna's Phase Center Offsets (PCOs) or PCCs based on about 31 stations from International GNSS Service (IGS) Multi-GNSS Experiment (MGEX) network to investigate the impacts of receiver antenna on BDS orbits. The results demonstrated that the overlapping orbit differences of BDS Inclined Geosynchronous Orbit (IGSO) satellites were improved by 63.1 mm, 21.5 mm, and 6.7 mm in along-track, cross-track, and radial directions, respectively. For BDS Medium Earth Orbit (MEO) satellites, the improvements can reach to 217.1 mm, 75.8 mm, and 23.3 mm in along-track, cross-track, and radial directions, respectively, when the PCOs only have been used for precise orbit determination. And the similar performance has been achieved by using PCCs as that of using PCOs only. The accuracy of precise point positioning improved nearly 10.0 mm in up direction once the calibrated PCCs were used.

Although the cyprinid zebrafish has been widely used to study gametogenesis and gonadal differentiation, it has remarkable limitations, such as the loss of sex determinants in laboratory strains, a juvenile ovary stage in both sexes, and oocyte defects generally leading to sex reversal. Here, we develop a novel small cyprinid model for studying gonadal differentiation and gametogenesis, Juji ( Gobiocypris rarus ), which possesses a genetic sex determination system. We generate a transgenic line of Juji, Tg(ddx4:EGFP-UTRddx4) , enabling lifetime visualization of germline development, and find that the dimorphic expression of ddx4:EGFP , rather than primordial germ cell number, at early stages determines the sexual fate of adults. RNA-seq analysis of juvenile ovaries and testes prior to germ cell differentiation identifies sexually dimorphic genes and signaling pathways. Several key factors, such as foxl2l and dmrt1 , which drive gonadal differentiation, are among the sexually dimorphic genes. Knockout of dmrt1 leads to sex reversal in juvenile males, with all mutants developing into females. Furthermore, transplanting germline stem cells from genetic males into dmrt1 mutants results in all transplants developing into females, highlighting the essential Sertoli-cell-specific role of dmrt1 in triggering spermatogenesis. Our study establishes Juji as a promising model for investigating sex differentiation, gametogenesis, and gonadal development. The small cyprinid fish Juji, with a genetic sex determination system, is established as a novel model to study germ cell development and gonadal differentiation, facilitating the identification of sexually dimorphic genes prior to germ cell differentiation.

Zebrafish serve as a valuable model organism for studying germ cell biology and reproductive processes. The AB strain of zebrafish is proposed to exhibit a polygenic sex determination system, where most males initially develop juvenile ovaries before committing to male fate. In species with chromosomal sex determination, gonadal somatic cells are recognized as key determinants of germ cell fate. Notably, the loss of germ cells in zebrafish leads to masculinization, implying that germ cells harbor an intrinsic feminization signal. However, the specific signal triggering oogenesis in zebrafish remains unclear. In the present study, we identified foxl2l as an oocyte progenitor-specific gene essential for initiating oogenesis in germ cells. Results showed that /bx/2/-knockout zebrafish bypassed the juvenile ovary stage and exclusively developed into fertile males. Further analysis revealed that loss of foxl2l hindered the initiation of oocyte-specific meiosis and prevented entry into oogenesis, leading to premature spermatogenesis during early gonadal development. Furthermore, while mutation of the pro-male gene dmrtl led to fertile female differentiation, simultaneous disruption of foxl2l in dmrtl mutants completely blocked oogenesis, with a large proportion of germ cells arrested as germline stem cells, highlighting the crucial role of foxl2l in oogenesis. Overall, this study highlights the unique function of foxl2l as a germ cell-intrinsic gatekeeper of oogenesis in zebrafish.