{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,14]],"date-time":"2026-05-14T02:59:34Z","timestamp":1778727574702,"version":"3.51.4"},"reference-count":25,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2017,5,16]],"date-time":"2017-05-16T00:00:00Z","timestamp":1494892800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The failure to detect anomalies and maneuvering of the orbits of navigation satellite sensors will deteriorate the performance of positioning and orbit determination. Motivated by the influence of the frequent maneuvering of BDS GEO and IGSO satellites, this paper analyzes the limitations of existing methods, where BDS orbit maneuvering and anomalies can be detected, and develops a method to solve this problem based on the RMS model of orbit mutual differences proposed in this paper. The performance of this method was assessed by comparison with the health flag of broadcast ephemeris, precise orbit products of GFZ, the O-C values of a GNSS station and a conventional method. The results show that the performance of the method developed in this paper is better than that of the conventional method when the periodicity and trend items are obvious. Meanwhile, three additional verification results show that the method developed in this paper can find error information in the merged broadcast ephemeris provided by iGMAS. Furthermore, from the testing results, it can be seen that the detection of anomaly and maneuvering items do not affect each other based on the robust thresholds constructed in this paper. In addition, the precise orbit of the maneuvering satellites can be determined under the circumstances that the maneuver information detected in this paper is used, and the root mean square (RMS) of orbit overlap comparison for GEO-03\/IGSO-03 in Radial, Along, Cross, 1D-RMS are 0.7614\/0.4460 m, 1.8901\/0.3687 m, 0.3392\/0.2069 m, 2.0657\/0.6145 m, respectively.<\/jats:p>","DOI":"10.3390\/s17051129","type":"journal-article","created":{"date-parts":[[2017,5,16]],"date-time":"2017-05-16T11:42:11Z","timestamp":1494934931000},"page":"1129","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":28,"title":["A Robust Method to Detect BeiDou Navigation Satellite System Orbit Maneuvering\/Anomalies and Its Applications to Precise Orbit Determination"],"prefix":"10.3390","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4728-7849","authenticated-orcid":false,"given":"Fei","family":"Ye","sequence":"first","affiliation":[{"name":"State Key Laboratory of Geodesy and Earth\u2019s Dynamics, Institute of Geodesy and Geophysics, 340 Xudong Rd., Wuhan 430077, China"},{"name":"University of Chinese Academy of Sciences, No. 19A Yuquan Road, Beijing 100049, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yunbin","family":"Yuan","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Geodesy and Earth\u2019s Dynamics, Institute of Geodesy and Geophysics, 340 Xudong Rd., Wuhan 430077, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4069-2032","authenticated-orcid":false,"given":"Bingfeng","family":"Tan","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Geodesy and Earth\u2019s Dynamics, Institute of Geodesy and Geophysics, 340 Xudong Rd., Wuhan 430077, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jikun","family":"Ou","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Geodesy and Earth\u2019s Dynamics, Institute of Geodesy and Geophysics, 340 Xudong Rd., Wuhan 430077, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2017,5,16]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"2813","DOI":"10.1007\/s11434-011-4627-4","article-title":"Contribution of the compass satellite navigation system to global PNT users","volume":"56","author":"Yang","year":"2011","journal-title":"Chin. Sci. Bull."},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Camacho-Lara, S. (2013). Current and Future GNSS and Their Augmentation Systems. Handbook of Satellite Applications, Springer.","DOI":"10.1007\/978-1-4419-7671-0_25"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"211","DOI":"10.1007\/s10291-012-0272-x","article-title":"Initial assessment of the COMPASS\/BeiDou-2 regional navigation satellite system","volume":"17","author":"Montenbruck","year":"2013","journal-title":"GPS Solut."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"8328","DOI":"10.1038\/srep08328","article-title":"Precise positioning with current multi-constellation global navigation satellite systems: GPS, GLONASS, Galileo and BeiDou","volume":"5","author":"Li","year":"2015","journal-title":"Sci. Rep."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"32967","DOI":"10.1038\/srep32967","article-title":"A new analytical solar radiation pressure model for current BeiDou satellites: IGGBSPM","volume":"6","author":"Tan","year":"2016","journal-title":"Sci. Rep."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"103","DOI":"10.1007\/s10291-012-0264-x","article-title":"Precise relative positioning using real tracking data from COMPASS GEO and IGSO satellites","volume":"17","author":"Shi","year":"2013","journal-title":"GPS Solut."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"1828","DOI":"10.1016\/j.asr.2014.07.012","article-title":"Orbit determination and prediction of GEO satellite of BeiDou during repositioning maneuver","volume":"54","author":"Cao","year":"2014","journal-title":"Adv. Space Res."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"783","DOI":"10.1007\/s10291-015-0488-7","article-title":"Analysis of BDS satellite clocks in orbit","volume":"20","author":"Wang","year":"2016","journal-title":"GPS Solut."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"569","DOI":"10.1007\/s00190-002-0279-0","article-title":"Satellite orbit determination using triple-differenced GPS carrier phase in pure kinematic mode","volume":"76","author":"Byun","year":"2003","journal-title":"J. Geod."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"515","DOI":"10.1007\/s00190-013-0625-4","article-title":"Orbit and clock analysis of Compass GEO and IGSO satellites","volume":"87","author":"Steigenberger","year":"2013","journal-title":"J. Geod."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"29970","DOI":"10.3390\/s151229780","article-title":"Assessment of the Contribution of BeiDou GEO, IGSO, and MEO Satellites to PPP in Asia\u2014Pacific Region","volume":"15","author":"Zhao","year":"2015","journal-title":"Sensors"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Geng, T., Su, X., Fang, R., Xie, X., Zhao, Q., and Liu, J. (2016). BDS Precise Point Positioning for Seismic Displacements Monitoring: Benefit from the High-Rate Satellite Clock Corrections. Sensors, 16.","DOI":"10.3390\/s16122192"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Liu, T., Yuan, Y., Zhang, B., Wang, N., Tan, B., and Chen, Y. (2016). Multi-GNSS precise point positioning (MGPPP) using raw observations. J. Geod.","DOI":"10.1007\/s00190-016-0960-3"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"16","DOI":"10.1117\/12.544316","article-title":"XSS-10 micro-satellite flight demonstration program","volume":"5419","author":"Davis","year":"2004","journal-title":"Proc. SPIE"},{"key":"ref_15","unstructured":"Jacobovits, A., and Vaneck, T. (2003, January 12). AeroAstro\u2019s Escort\u2013a microsatellite for on-orbit inspection of space assets. Proceedings of the 17th AIAA\/USU Annual Conference on Small Satellites, SSC03-IV-7, Logan, UT, USA."},{"key":"ref_16","first-page":"51","article-title":"Moving Target Recognition Based on HMM","volume":"25","author":"Zhang","year":"2003","journal-title":"J. Natl. Univ. Def. Technol."},{"key":"ref_17","first-page":"40","article-title":"Relative Orbit Design of a Chaser Tracking a Non-cooperative Target in Space","volume":"24","author":"Che","year":"2006","journal-title":"Aerosap. Control"},{"key":"ref_18","first-page":"73","article-title":"GEO Satellite Abnormity Recognition Based on Wavelet Analysis","volume":"30","author":"Liu","year":"2010","journal-title":"J. Geod. Geodyn."},{"key":"ref_19","first-page":"35","article-title":"A Method Based on Broadcast Ephemeris to Detect BDS Satellite Orbital Maneuver","volume":"3","author":"Yan","year":"2015","journal-title":"J. Navig. Position"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"438","DOI":"10.1007\/s001900100197","article-title":"Auto-covariance estimation of variable samples (ACEVS) and its application for monitoring random ionospheric disturbances using GPS","volume":"75","author":"Yuan","year":"2001","journal-title":"J. Geod."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"1055","DOI":"10.1214\/aos\/1176343997","article-title":"Do robust estimators work with real data?","volume":"5","author":"Stigler","year":"1977","journal-title":"Ann. Stat."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"871","DOI":"10.1080\/01621459.1984.10477105","article-title":"Least median of squares regression","volume":"79","author":"Rousseeuw","year":"1984","journal-title":"J. Am. Stat. Assoc."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"65","DOI":"10.1016\/0167-9473(92)00063-W","article-title":"Robust regression with a distributed intercept using least median of squares","volume":"17","author":"Rousseeuw","year":"1994","journal-title":"Comput. Stat. Data Anal."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"268","DOI":"10.1007\/s001900050243","article-title":"Robust estimation of geodetic datum transformation","volume":"73","author":"Yang","year":"1999","journal-title":"J. Geod."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"117","DOI":"10.1016\/j.geog.2016.04.004","article-title":"GNSS receiver autonomous integrity monitoring (RAIM) algorithm based on robust estimation","volume":"7","author":"Yang","year":"2016","journal-title":"Geod. Geodyn."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/17\/5\/1129\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T18:35:57Z","timestamp":1760207757000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/17\/5\/1129"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,5,16]]},"references-count":25,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2017,5]]}},"alternative-id":["s17051129"],"URL":"https:\/\/doi.org\/10.3390\/s17051129","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,5,16]]}}}