GNSS精密單點定位算法研究與實現(xiàn)
發(fā)布時間：2018-10-26 22:05
【摘要】：高精度GNSS單點定位是空間測量技術(shù)的熱點，GNSS精密單點定位（PPP）數(shù)據(jù)處理模型的不斷完善使其在測繪等各個領(lǐng)域得到廣泛應(yīng)用，但其周跳探測及修復(fù)和模糊度解算兩大關(guān)鍵問題仍存在不足。本文研究GNSS PPP的周跳探測及修復(fù)和模糊度解算的新方法，并自主開發(fā)GNSS PPP軟件以驗證提出的新方法的可靠性和有效性，主要研究內(nèi)容如下： 1）精密單點定位與差分定位主要區(qū)別之一在于精密單點定位需要對更多的誤差源進行改正。本文首先分析了GNSS PPP各項誤差特性及其對解算精度的影響機理，給出了各項誤差源的量級。通過不同模型實驗結(jié)果對比，確定最優(yōu)改正模型，以提高GNSS PPP導(dǎo)航定位精度； 2）數(shù)據(jù)預(yù)處理方法直接影響卡爾曼濾波的收斂速度和GNSS PPP的解算精度與可靠性，周跳探測及修復(fù)是其關(guān)鍵問題之一。研究GNSS PPP非差觀測值周跳探測及修復(fù)問題，提出基于經(jīng)驗?zāi)B(tài)分解（EMD）異常值檢測的周跳探測方法。該方法分析觀測信息的信號特征及信號的異常值特性，通過檢測信號的異常值判斷周跳發(fā)生的位置與大小，并通過實例驗證該方法的適用性； 3）研究了TECR/M-W組合周跳探測及修復(fù)算法，針對電子含量變化率（TECR）無法準確探測采樣間隔較大（如30s）數(shù)據(jù)周跳的問題，提出利用TECR預(yù)測值與實測值的殘差作為檢驗量進行周跳探測方法，消除TECR算法中時間項的影響。實驗結(jié)果表明：改進的TECR/M-W組合周跳探測及修復(fù)算法充分利用兩種算法的優(yōu)點，提高了周跳探測及修復(fù)效率，對任意采樣間隔、大小和不同組合的周跳均能有效探測并修復(fù)； 4）介紹了目前常用的PPP模糊度解算方法，在此基礎(chǔ)上通過推導(dǎo)浮點模糊度、寬巷組合模糊度與窄巷模糊度三者之間關(guān)系，提出無基站PPP模糊度解算方法。利用SOPAC提供的ITRF坐標以及GAMIT解算結(jié)果作為真值，對全球IGS站數(shù)據(jù)與實測數(shù)據(jù)解算結(jié)果與之對比，驗證提出的無基站PPP模糊度解算方法的解算精度和可靠性。實驗結(jié)果表明：提出的PPP模糊度算法在定位精度和與參考坐標的絕對偏差上相對于浮點解都有明顯提高； 5）研究GLONASS與GPS數(shù)據(jù)處理差異，分析GPS/GLONASS PPP與GPSPPP的區(qū)別，建立了GPS/GLONASS PPP解算模型。實驗結(jié)果表明GPS/GLONASS組合定位可以優(yōu)化衛(wèi)星分布，在GPS衛(wèi)星較少時提高PPP適用性，但受制于GLONASS精密星歷和鐘差的精度影響，GPS/GLONASS PPP的定位精度相對于GPS PPP并沒有得到明顯提高； 6）自主開發(fā)GNSS PPP軟件，實現(xiàn)GPS PPP、GNSS PPP的浮點解和固定解兩種解算模式，，驗證提出的非差觀測值周跳探測及修復(fù)和無基站模糊度算法的有效性和準確性。
[Abstract]:High precision GNSS single point positioning is a hot spot in spatial measurement technology. With the improvement of (PPP) data processing model of GNSS precise single point positioning, it has been widely used in many fields, such as surveying and mapping. However, its cycle slip detection and restoration and ambiguity resolution are still two key problems. In this paper, a new method of cycle slip detection and restoration and ambiguity resolution of GNSS PPP is studied, and GNSS PPP software is developed to verify the reliability and effectiveness of the proposed method. The main research contents are as follows: 1) one of the main differences between precision single point positioning and differential positioning is that precision single point positioning needs to correct more error sources. In this paper, the error characteristics of GNSS PPP and its influence mechanism on the accuracy of solution are analyzed, and the order of magnitude of each error source is given. By comparing the experimental results of different models, the optimal correction model is determined to improve the accuracy of GNSS PPP navigation and positioning. 2) the data preprocessing method directly affects the convergence rate of Kalman filter and the accuracy and reliability of GNSS PPP. Cycle slip detection and repair is one of its key problems. In this paper, the problem of cycle slip detection and repair of GNSS PPP nondifferential observations is studied, and a cycle slip detection method based on empirical mode decomposition (EMD) (EMD) outliers detection is proposed. This method analyzes the signal characteristics of the observation information and the abnormal value characteristics of the signal, judges the position and size of the cycle slip by detecting the abnormal value of the signal, and verifies the applicability of the method by an example. 3) the combined cycle slip detection and repair algorithm of TECR/M-W is studied. Aiming at the problem that the electronic content change rate (TECR) can not accurately detect the cycle slip of data with large sampling interval (such as 30s), In order to eliminate the influence of time term in TECR algorithm, a cycle slip detection method based on the residual of TECR prediction value and measured value is proposed. The experimental results show that the improved TECR/M-W combined cycle slip detection and repair algorithm makes full use of the advantages of the two algorithms and improves the efficiency of cycle slip detection and repair. The cycle slips of different sizes and combinations can be detected and repaired effectively. 4) this paper introduces the PPP ambiguity calculation method which is commonly used at present. On this basis, by deducing the relationship among floating-point ambiguity, wide-lane combination ambiguity and narrow roadway ambiguity, a method for calculating PPP ambiguity without base station is put forward. Using the ITRF coordinates provided by SOPAC and the results of GAMIT as the true values, the accuracy and reliability of the proposed PPP ambiguity resolution method without base station are verified by comparing the global IGS station data with the measured data. The experimental results show that the proposed PPP ambiguity algorithm can improve the positioning accuracy and the absolute deviation from the reference coordinates obviously compared with the floating point solution. 5) the difference between GLONASS and GPS data processing is studied, the difference between GPS/GLONASS PPP and GPSPPP is analyzed, and the GPS/GLONASS PPP solution model is established. The experimental results show that GPS/GLONASS combined positioning can optimize the satellite distribution and improve the applicability of PPP when the GPS satellite is less, but it is limited by the precision of GLONASS precise ephemeris and clock error. The positioning accuracy of GPS/GLONASS PPP is not obviously improved compared with GPS PPP. 6) GNSS PPP software is developed independently to realize the floating-point solution and fixed solution of GPS PPP,GNSS PPP. The validity and accuracy of the proposed algorithm for detecting and repairing cycle slips and ambiguity without base station are verified.
【學(xué)位授予單位】：中國礦業(yè)大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2014
【分類號】：P228.4
[Abstract]:High precision GNSS single point positioning is a hot spot in spatial measurement technology. With the improvement of (PPP) data processing model of GNSS precise single point positioning, it has been widely used in many fields, such as surveying and mapping. However, its cycle slip detection and restoration and ambiguity resolution are still two key problems. In this paper, a new method of cycle slip detection and restoration and ambiguity resolution of GNSS PPP is studied, and GNSS PPP software is developed to verify the reliability and effectiveness of the proposed method. The main research contents are as follows: 1) one of the main differences between precision single point positioning and differential positioning is that precision single point positioning needs to correct more error sources. In this paper, the error characteristics of GNSS PPP and its influence mechanism on the accuracy of solution are analyzed, and the order of magnitude of each error source is given. By comparing the experimental results of different models, the optimal correction model is determined to improve the accuracy of GNSS PPP navigation and positioning. 2) the data preprocessing method directly affects the convergence rate of Kalman filter and the accuracy and reliability of GNSS PPP. Cycle slip detection and repair is one of its key problems. In this paper, the problem of cycle slip detection and repair of GNSS PPP nondifferential observations is studied, and a cycle slip detection method based on empirical mode decomposition (EMD) (EMD) outliers detection is proposed. This method analyzes the signal characteristics of the observation information and the abnormal value characteristics of the signal, judges the position and size of the cycle slip by detecting the abnormal value of the signal, and verifies the applicability of the method by an example. 3) the combined cycle slip detection and repair algorithm of TECR/M-W is studied. Aiming at the problem that the electronic content change rate (TECR) can not accurately detect the cycle slip of data with large sampling interval (such as 30s), In order to eliminate the influence of time term in TECR algorithm, a cycle slip detection method based on the residual of TECR prediction value and measured value is proposed. The experimental results show that the improved TECR/M-W combined cycle slip detection and repair algorithm makes full use of the advantages of the two algorithms and improves the efficiency of cycle slip detection and repair. The cycle slips of different sizes and combinations can be detected and repaired effectively. 4) this paper introduces the PPP ambiguity calculation method which is commonly used at present. On this basis, by deducing the relationship among floating-point ambiguity, wide-lane combination ambiguity and narrow roadway ambiguity, a method for calculating PPP ambiguity without base station is put forward. Using the ITRF coordinates provided by SOPAC and the results of GAMIT as the true values, the accuracy and reliability of the proposed PPP ambiguity resolution method without base station are verified by comparing the global IGS station data with the measured data. The experimental results show that the proposed PPP ambiguity algorithm can improve the positioning accuracy and the absolute deviation from the reference coordinates obviously compared with the floating point solution. 5) the difference between GLONASS and GPS data processing is studied, the difference between GPS/GLONASS PPP and GPSPPP is analyzed, and the GPS/GLONASS PPP solution model is established. The experimental results show that GPS/GLONASS combined positioning can optimize the satellite distribution and improve the applicability of PPP when the GPS satellite is less, but it is limited by the precision of GLONASS precise ephemeris and clock error. The positioning accuracy of GPS/GLONASS PPP is not obviously improved compared with GPS PPP. 6) GNSS PPP software is developed independently to realize the floating-point solution and fixed solution of GPS PPP,GNSS PPP. The validity and accuracy of the proposed algorithm for detecting and repairing cycle slips and ambiguity without base station are verified.
【學(xué)位授予單位】：中國礦業(yè)大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2014
【分類號】：P228.4
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相關(guān)期刊論文 前10條
1 李明;高星偉;徐愛功;;一種改進的周跳多項式擬合方法[J];測繪科學(xué);2008年04期
2 嚴新生;王一強;白征東;過靜s
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