Abstract
Real-time service (RTS) products are an important guarantee for real-time precise point positioning (RT-PPP), and the RTS outages caused by loss of network connection are a concern. In this paper, a multivariate CNN-LSTM model is proposed for short-term BDS satellite clock offset prediction during the discontinuity in receiving RTS clock offsets, which utilizes the superior feature of convolution neural network (CNN) and long short-term memory (LSTM) for simultaneous prediction of multiple satellite clock offsets by considering the inter-satellite correlation. First, the correlation between satellite clock offsets was analyzed to identify satellites suitable for parallel prediction. Then, to preserve the sequential structure of the features extracted from multiple parallel satellite clock offsets, remove the pooling layer of traditional CNN, and use the convolution layer to learn the relationships and dependencies between clock offsets of different satellites and the LSTM layer to model the temporal dependencies in satellite clock offsets. The experiment results show that the computational efficiency of the proposed model is significantly better than that of autoregressive integrated moving average (ARIMA), wavelet neural network (WNN), and LSTM models. Compared with the linear polynomial (LP), quadratic polynomial model (QP), ARIMA, WNN, and the LSTM models, the prediction accuracy of the multivariate CNN-LSTM model for 5 min, 15 min, 30 min, and 1 h is improved by approximately (84.0, 76.6, 1.5, 8.3, 8.3)%, (72.0, 62.6, 6.0, 15.3, 18.7)%, (57.1, 48.5, 11.3, 18.4, 23.3)%, and (34.9, 35.1, 27.3, 21.8, 26.3)%, respectively.