Long-term performance detection and evaluation of GLONASS onboard satellite clocks.

[Display omitted] • The long-term performance of GLONASS satellite clocks were revealed for the first time. • The periodic terms existed in the clock are detected. • The comparison between GLONASS and other GNSS satellite clock is conducted. The cesium atomic clock installed on the GLObal NAvigation Satellite System (GLONASS) is a key piece of equipment. However, its performance is easily affected by the external environment and its physical characteristics. Therefore, it is essential to evaluate the long-term performance of the clock. In this study, using eight years of continuous GLONASS precise satellite clock offset products, the long-term performance of GLONASS satellite clocks is revealed for the first time. The results showed that the mean number of phase and frequency jumps for one satellite clock in one year were 0.29 and 0.19, respectively. The fitting precision, which is the standard deviation of the fitting residuals, was 0.88 nanoseconds (ns). Except for the R06 satellite clock, the first or second period was 11.24 h in the clock offset. In terms of clock stability, the short-term clock offset prediction accuracy was 0.52 ns, the frequency stability at 1000 and 10000 s was 4.03 × 10-13 and 1.01 × 10-13, respectively. Both the short-term clock offset prediction accuracy and frequency stability were inferior to those of the rubidium atomic clock of the Global Positioning System (GPS) Block IIF satellites, the second-generation BeiDou Navigation Satellite System (BDS-2), Quasi-Zenith Satellite System (QZSS), and Galileo Passive Hydrogen Maser (PHM). The mean switching number for each GLONASS satellite clock was 0.27 per year. Furthermore, the R15 satellite clock, maybe owing to its hardware noise, delivered the poorest performance among those of all the GLONASS satellite clocks. [ABSTRACT FROM AUTHOR]