本文選題：高精度GPS技術　切入點：單歷元算法　出處：《武漢大學》2013年博士論文

【摘要】：為緩解各種能源緊缺問題,我國相繼開展了許多大型工程項目建設。隨著我國大型工程項目建設規(guī)模的擴大和科學技術的進步,大型工程項目質量安全監(jiān)管于段將會或已經走向現(xiàn)代化高新技術勢必代替?zhèn)鹘y(tǒng)技術的發(fā)展趨勢。對于大型工程項目質量監(jiān)管新手段的研究一直是施工部門長期關注的焦點課題。 針對大量大型施工設備在狹小的施工場地高密度布放、高強度作業(yè)、大重量承載、廣范圍移動運行,在高空交錯混雜,一旦發(fā)生機械故障、吊運物件脫落、施工設備之間或施工設備與施工建筑物之間發(fā)生碰撞,都將可能造成重大的人員傷亡和嚴重的經濟損失,嚴重影響工程項目施工進度。目前對施工設備運行狀態(tài)的安全監(jiān)控處于傳統(tǒng)的人工值守方法,這缺乏實時性和自動化,安全監(jiān)控也難以保證。為攻克解決這一技術難題,考慮到GPS技術具有先天獨特的優(yōu)勢,本文將GPS實時精密定位方法應用于施工機械安全監(jiān)控,可為工程施工安全提供新的技術保障；對于提高施工設備管理的現(xiàn)代化水平,具有較高理論意義和重要應用價值。本文完成的主要工作以及取得的創(chuàng)新性成果總結如下： 1.GPS監(jiān)控信號實時交換與并行解碼技術和方法研究：通過分析GPS監(jiān)控終端的串口通信、監(jiān)控信號實時傳輸與多路接收以及GPS監(jiān)控終端和控制中心服務器端的信號通訊軟件設計與實現(xiàn),探討了多路GPS監(jiān)控信號實時交換技術的實現(xiàn)方法與具體流程,通過實驗測試與數(shù)據比對分析,驗證了多路GPS監(jiān)控信號實時交換的可行性和有效性；同時,以某品牌GPS-OEM板為例,對其GPS信號數(shù)據結構進行解析之后,通過對觀測值數(shù)據和導航電文的解碼轉換實現(xiàn),提出了一種基于數(shù)據流方式和多線程技術相結合的多路GPS監(jiān)控信號實時并行解碼轉換方法,通過試驗與結果分析驗證了本文方法是行之有效的。 2. GPS偽距差分監(jiān)控研究與精度分析：對GPS偽距單歷元差分定位算法進行了詳細推導,給出了精度評定公式,并作了算法實現(xiàn)。通過靜態(tài)和動態(tài)試驗分析,利用C/A碼觀測值對算法作了驗證并進行了精度分析,并基于DGPS計算模式分別對C/A、P1和P2三種偽距差分觀測值精度和監(jiān)控精度進行了比較,算例計算結果表明：C/A碼差分觀測值精度略優(yōu)于P1碼和P2碼,而P1碼和P2碼基本相當；C/A碼偽距差分單歷元定位精度略優(yōu)于P1和P2碼,在H方向上較為明顯；在GPS單歷元整周模糊度算法研究中用于初步定位的偽距觀測值建議首選C/A碼。 3.GPS單歷元雙差整周模糊度快速確定算法研究：首先對現(xiàn)有幾種典型GPS雙差整周模糊度確定算法進行了分析,重點探討了DUFCOM方法和IBC算法�？紤]到目前GPS單歷元觀測鎖定的衛(wèi)星數(shù)一般可達8～10顆甚至更多,為解決DUFCOM方法因觀測衛(wèi)星數(shù)過多導致解算效率過低問題,顧及DC算法具有解算效率高的優(yōu)點,提出對觀測衛(wèi)星進行篩選分級處理策略,進而提出了一種新的快速組合算法((?)FARSE)。算例結果表明,該算法可避免在應用DUFCOM方法中二級衛(wèi)星對一級衛(wèi)星雙差整周模糊度解算效率的影響,使得GPS單歷元確定雙差整周模糊度的效率顯著提高,達到了GPS高采樣率數(shù)據實時動態(tài)解算的目的。 4. E DUFCOM方法提出及其效能分析：在分析已有DUFCOM方法單歷元解算GPS L1相位觀測值整周模糊度理論的基礎上,對其進行了衍生與方法擴展,進而提出了單歷元直接確定GPS L2、Ln和Lw相位觀測值整周模糊度的新方法,即為Intension DUFCOM方法,并統(tǒng)一原有IDUFCOM方法,概括為E DUFCOM方法,最后給出了(?)E_DUFCOM方法的特征值條件。算例結果表明：基于(?)E_DUFCOM方法的高精度GPS單歷元差分定位中,在整周模糊度解算效率下最高的是%健鱊n,其次是%健鱊1,再次是%健鱊w,最低的是%健鱊2,這與誤差帶的約束作用息息相關：在定位解粗度上從高到低依次是Ln、L1、L2和Lw,這與其本身觀測噪聲密切有關；四種相位觀測值用于定位的比較,不論是解算效率還是定位精度,Ln定位解具備最優(yōu)特性 5.GPS施工機械防撞預警系統(tǒng)與應用試驗模擬設計：集成高精度GPS技術無線通訊技術和計算機網絡技術,開發(fā)設計了一套高精度GPS(?)施工設備防撞預警系統(tǒng)(Gscrtcas),通過模擬設計三種應用試驗,對Gsertcas系統(tǒng)的監(jiān)控精度和效果進行了驗證。試驗結果表明:不論是模擬塔吊機與塔吊機之間的運動、塔吊機與纜機之間的運動還是纜機與纜機之間的運動,在它們相互靠近(相對運動或追趕運動)的過程中,Gsertcas系統(tǒng)能實時監(jiān)控它們的運動軌跡,并能有效地顯繪安全運行指令信息、C級告警與指令信息、B級告警與指令信息、A級告警與指令信息,便于提醒設備駕駛人員安全駕駛、謹慎駕駛、采取正常避讓或緊急制動的相應操作；在保證整周模糊度成功固定的前提條件下,SeOTF計算模式的監(jiān)控精度明顯優(yōu)于DGPS計算模式和平滑DGPS計算模式；基于E_DUFCOM+DC'快速組合算法的SeOTF計算模式時,信號微弱干擾下單歷元整周模糊度解算成功率高達97%以上,信號弱干擾下單歷元整周模糊度解算成功率可達91%以上,但信號有干擾下單歷元整周模糊度解算成功率僅高于57%；Gsertcas系統(tǒng)的應用盡量避免影響GPS信號質量的干擾源；Gsertcas系統(tǒng)運行穩(wěn)定且防碰撞預警及時可靠,對工程施工具有良好的應用價值。
[Abstract]:In order to alleviate the problem of shortage of energy, our country has carried out many large-scale construction projects. With the expansion of China's large scale of construction projects and the progress of science and technology, the development trend of quality and safety supervision of large projects in the modernization of high technology will have or will replace the traditional technology. The research for new means of quality supervision large engineering project has been the focus of research has long been concerned about the construction departments.
For a large number of large-scale construction equipment in the construction site of high density small cloth, high strength, large weight bearing, wide range of mobile operation at high altitude, mixed, the event of mechanical failure, lifting objects fall off, the collision between construction equipment or construction equipment and construction of buildings, are likely to cause heavy casualties and serious economic losses, seriously affect the construction progress of the project. The safety monitoring of the running state of the equipment in the construction workers on the traditional methods, the lack of real-time and automation, safety monitoring is also difficult to guarantee. For solving this technical problem, considering that GPS technology has inherent unique advantages, the real time GPS precision positioning method is applied to construction machinery safety monitoring, can provide new technical guarantee for construction safety; to improve the management of construction equipment in the modernization of water It has high theoretical significance and important application value. The main work completed in this paper and the achievements made in this paper are summarized as follows:
Study on the technology and method of decoding and parallel real-time exchange 1.GPS data through the serial communication: analysis of GPS monitoring terminal, design and Realization of signal communication software monitoring signal transmission and real-time multi-channel receiver and GPS monitoring terminal and control center server, discusses the implementation method of real-time monitoring of multi-channel GPS signal exchange technology and the specific processes through data compared with the experimental results, verify the feasibility of real-time monitoring of multi-channel GPS signal exchange and validity; at the same time, with a certain brand of GPS-OEM board as an example, after the GPS signal data structure is analyzed and realized through the decoding of the observation data and navigation data conversion, proposed a multi-channel GPS signal monitoring data flow method and multithreading technology based on the combination of real-time parallel decoding conversion method, through the analysis and test results show that the method is effective .
2. GPS pseudorange differential analysis of monitoring and Research on precision: the GPS single epoch pseudorange differential positioning algorithm is deduced in detail, gives the formula of accuracy, and the algorithm. Through static and dynamic test analysis, using C/A code observations to verify the algorithms and the accuracy is analyzed, and based on the DGPS model of C/A, P1 and P2 three kinds of pdgps observation precision and the monitoring precision were compared. The results of calculation example show that the C/A code difference observation accuracy is slightly better than the P1 code and P2 code, P1 code and P2 code is C/A code; pdgps epoch-by-epoch the positioning accuracy is better than P1 and P2 code in the H direction is more obvious; for the preliminary positioning of the pseudo range observations suggested for C/A code in the GPS single epoch ambiguity algorithm research.
Single epoch 3.GPS double difference ambiguity quick determination algorithms: firstly, several typical GPS double difference integer ambiguity algorithm are analyzed, discussed the DUFCOM method and IBC algorithm. Considering the current number of satellite single epoch GPS observations locked generally up to 8~10 stars or more, in order to solve the DUFCOM method the number of observation satellites due to excessive computation efficiency is too low, taking into account the DC algorithm has the advantages of high calculation efficiency, proposed classification processing strategy of the satellite, and then puts forward a new fast algorithm ((?) FARSE). The results show that the algorithm can avoid the application of the DUFCOM method the two level of a satellite satellite double difference ambiguity solution efficiency, makes the GPS single epoch determine double difference ambiguity resolution efficiency significantly improved, reached GPS high sampling rate data is calculated dynamically in real time. .
4. E DUFCOM method is proposed and its effectiveness analysis: in single epoch GPS L1 phase observation based Ambiguity Theory on the analysis of the existing DUFCOM method, has carried on the derivation and extension methods, and then puts forward the single epoch to directly determine the GPS L2 value, a new method of ambiguity resolution in Ln and Lw phase observation that is the Intension DUFCOM method, and the unity of the original IDUFCOM method, summarized as E DUFCOM method, finally gives the characteristics of the E_DUFCOM method (?) conditions. Numerical results show that: Based on high precision GPS (?) E_DUFCOM single epoch method of differential positioning, the ambiguity under the highest efficiency the second is n% Jian Yu, Yu Jian% 1,% w Yu Jian is again, the lowest is 2 Yu Jian%, which is closely related with constraint error band: the positioning solution accuracy from high to low is Ln, L1, L2 and Lw, which is closely related to its observation four kinds of noise; The phase observation value is used to compare the location, whether it is the calculation efficiency or the positioning accuracy, the Ln positioning solution has the best characteristic.
5.GPS construction machinery anti-collision warning system and application of simulation test design: high precision integrated GPS technology, wireless communication technology and computer network technology, development and design of a high precision GPS (?) collision warning system construction equipment (Gscrtcas), by simulating the design of three kinds of application test, monitoring accuracy and the effect of the Gsertcas system is verified. The experimental results showed that: whether the simulation of tower crane and tower crane movement between, between tower crane and cable machine movement or cable machine and cable machine in motion, they are close to each other (relative motion or catching movement) in the process of trajectory real-time monitoring of their Gsertcas system, and can effectively to draw the safe operation of explicit instruction information, C alarm and B alarm and command information, command information, a warning and command information, to remind the driver driving safety equipment, drive carefully, take it The corresponding operation often avoid or emergency braking; the ambiguity fixed condition, monitoring accuracy is better than DGPS SeOTF model calculation model and smooth DGPS model; based on the fast algorithm of E_DUFCOM+DC'integrated SeOTF calculation mode, weak signal interference of single epoch ambiguity success rate is high more than 97%, the weak signal interference of single epoch ambiguity success rate is more than 91%, but the signal interference of single epoch ambiguity success rate is higher than 57%; the interference source application of Gsertcas system to avoid affecting the quality of GPS signals; Gsertcas collision warning system is stable and reliable and timely and has a good application value for engineering construction.

【學位授予單位】：武漢大學
【學位級別】：博士
【學位授予年份】：2013
【分類號】：P228.4

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