Nonlinear Autoregressive Model With Exogenous Input Recurrent Neural Network to Predict Satellites’ Clock Bias

The prediction of Satellites’ Clock Bias (SCB) plays an important role in optimizing the clock bias parameters in navigation messages, meeting the requirements of real-time dynamic precise point positioning and providing the prior information required for satellite autonomous navigation. Satellite-borne atomic clocks are often affected by many factors in space, which makes it difficult to describe the clocks’ bias and behavior with fixed model to achieve reliable high-precision prediction. The composition and characteristics of clock bias for satellite-borne atomic clock are described and analyzed, a clock bias prediction algorithm based on Nonlinear autoregressive model with exogenous input (NARX) recurrent neural network is proposed, the advantages of this model in SCB and other time series prediction are introduced in detail. The SCB data from four different clock types are selected for calculation and analysis. The comparative results show that, for both 6h and 24h forecasts, the accuracy and stability of NARX model are significantly better than three commonly used models, especially in the prediction of satellite cesium atomic clock.