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  本文選題：單頻　切入點：多徑　出處：《國防科學(xué)技術(shù)大學(xué)》2013年碩士論文

【摘要】：BDS目前只公布了B1頻點數(shù)據(jù),因此民用BDS接收機均是單頻接收機,GPS民用接收機也以單頻接收機為主。單頻接收機在定位精度、穩(wěn)定度等方面很難與雙頻甚至三頻接收機相比,為提高定位精度,需要對單頻接收機定位精度提高辦法進(jìn)行研究。本文首先分析了偽距觀測值誤差特性及誤差抑制方法,然后從提高觀測值精度和優(yōu)化定位算法兩個方面研究了提高單頻定位精度的方法。本文主要內(nèi)容包括三個方面:第一,偽距觀測值誤差特性及誤差抑制方法。與GPS系統(tǒng)星座不同,我國BDS系統(tǒng)星座為GEO,MEO,IGSO三種衛(wèi)星組成的混合星座。針對BDS的這一特性,利用實測數(shù)據(jù)分析了不同類型衛(wèi)星的觀測值誤差特點,著重研究了偽距多徑誤差特性,實測數(shù)據(jù)表明:IGSO與MEO偽距觀測值多徑誤差表現(xiàn)出相近特性,GEO衛(wèi)星偽距觀測值多徑誤差表現(xiàn)出慢變特性。第二,穿刺點周圍格網(wǎng)點部分不可用時的電離層延遲修正方法。格網(wǎng)電離層修正是一種精度較高的單頻電離層延遲修正方法,廣泛應(yīng)用于廣域差分系統(tǒng)。由于通信故障、誤碼等原因?qū)е陆邮諜C接收的部分格網(wǎng)信息不可用,傳統(tǒng)垂直電離層延遲的計算方法在電離層發(fā)生劇烈變化時會引入較大誤差。針對這一問題,提出了基于部分格網(wǎng)信息不可用時的電離層修正方法,并在實測數(shù)據(jù)基礎(chǔ)上進(jìn)行仿真,仿真結(jié)果表明,該方法提高了穿刺點周圍格網(wǎng)點信息部分不可用時的電離層延遲修正精度。最后,利用實測數(shù)據(jù)對基于格網(wǎng)電離層延遲修正的廣域差分定位性能進(jìn)行評估,并與不使用廣域差分信息且利用模型法修正電離層延遲定位結(jié)果進(jìn)行比較,結(jié)果表明:基于格網(wǎng)電離層延遲修正的廣域差分定位定位結(jié)果明顯優(yōu)于其它幾組定位結(jié)果。第三,基于觀測數(shù)據(jù)融合的抗差卡爾曼濾波定位技術(shù)。偽距觀測值誤差較大,且受到干擾時可能含有較大粗差,容易導(dǎo)致卡爾曼濾波定位結(jié)果發(fā)散。針對這一問題,提出基于載波平滑偽距的卡爾曼濾波技術(shù)。實測數(shù)據(jù)表明,該方法可以增加卡爾曼濾波對誤差(尤其是偽距粗差)的抑制能力,抑制卡爾曼濾波發(fā)散;為充分利用單頻接收機觀測數(shù)據(jù),提高定位精度,對經(jīng)典卡爾曼濾波觀測方程進(jìn)行改進(jìn),提出了基于數(shù)據(jù)融合的濾波解算技術(shù),實測數(shù)據(jù)表明:該方法提高了單頻接收機數(shù)據(jù)利用率,提高了非急轉(zhuǎn)彎情況下濾波解算定位精度。
[Abstract]:At present, BDS only publishes B1 frequency data, so civil BDS receivers are mainly single-frequency receivers. It is difficult for single-frequency receivers to compare with dual-frequency or even three-frequency receivers in positioning accuracy and stability. In order to improve the positioning accuracy, it is necessary to study the method of improving the positioning accuracy of single frequency receiver. Firstly, the error characteristics of pseudo-range observation value and the method of error suppression are analyzed in this paper. Then, the methods of improving the accuracy of single frequency location are studied from two aspects: improving the precision of observation value and optimizing the localization algorithm. The main contents of this paper include three aspects: first, Error characteristics of pseudo-range observations and error suppression methods. Unlike GPS system constellations, China's BDS system constellations are mixed constellations composed of three kinds of satellites, GEOMEOOIGSO. In view of this characteristic of BDS, The characteristics of observation errors of different types of satellites are analyzed by using the measured data, and the characteristics of pseudo-range multipath errors are emphatically studied. The measured data show that the multipath error of the pseudo-range observation value of MEO and that of the MEO pseudo-range shows similar characteristics. The multipath error of the pseudo-range observation value of GEO satellite shows the characteristic of slow variation. The correction method of ionospheric delay is a high precision single frequency ionospheric delay correction method, which is widely used in wide area differential system. Because of error code and other reasons, some grid information received by receiver is not available. The traditional calculation method of vertical ionospheric delay will introduce large error when the ionosphere changes dramatically. An ionospheric correction method based on the non-availability of partial grid information is proposed and simulated on the basis of measured data. The simulation results show that, This method improves the accuracy of ionospheric delay correction when the information of the grid dot around the puncture point is not available. Finally, the wide area differential location performance based on the grid ionospheric delay correction is evaluated by using the measured data. The results are compared with the results of correction of ionospheric delay location using model method without using wide area differential information. The results show that the results of wide area differential positioning based on grid ionospheric delay correction are obviously superior to those of other groups. Third, Robust Kalman filter location technology based on observation data fusion. The error of pseudo-range observation value is large, and there may be a large gross error when it is disturbed, which can easily lead to the divergence of Kalman filter location results. The Kalman filtering technique based on carrier smoothing pseudo-range is proposed. The measured data show that the proposed method can increase the ability of Kalman filtering to suppress the error (especially the gross error of pseudo-range) and restrain the divergence of Kalman filter. In order to make full use of the observation data of single frequency receiver and improve the positioning accuracy, the classical Kalman filter observation equation is improved, and the filtering solution technology based on data fusion is proposed. The measured data show that this method can improve the data utilization ratio of single frequency receiver and improve the accuracy of filtering and positioning in the case of non-sharp turning.
【學(xué)位授予單位】：國防科學(xué)技術(shù)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2013
【分類號】：P228.4

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本文編號：1679569