本文選題：GNSS + 動(dòng)態(tài)定位��； 參考：《山東科技大學(xué)》2017年碩士論文

【摘要】：近十幾年來,四大衛(wèi)星導(dǎo)航系統(tǒng)在不斷、快速的向前發(fā)展。多系統(tǒng)的出現(xiàn)將會(huì)有利于改善單一系統(tǒng)單獨(dú)定位時(shí)出現(xiàn)的部分時(shí)刻可視衛(wèi)星數(shù)目較少,衛(wèi)星幾何結(jié)構(gòu)差的狀況。由于GNSS差分技術(shù)可以獲得高精度的定位結(jié)果,使其在高精度的導(dǎo)航定位中有著廣泛的應(yīng)用。單歷元定位結(jié)果的精度雖然低于多歷元定位結(jié)果,但是由于現(xiàn)代測(cè)量技術(shù)對(duì)效率性的要求越來越高,單歷元定位的應(yīng)用將會(huì)更加廣泛。因此,本論文就動(dòng)態(tài)情況下的單歷元定位算法進(jìn)行了較為詳細(xì)的研究。論文主要進(jìn)行了如下幾方面的研究:(1)分析了多系統(tǒng)GNSS定位的原理,對(duì)多系統(tǒng)GNSS雙差觀測(cè)方程進(jìn)行了較為詳細(xì)的推導(dǎo)。并分析了不同隨機(jī)模型對(duì)偽距雙差和載波雙差定位結(jié)果的影響,實(shí)驗(yàn)結(jié)果表明基于高度角和信噪比的隨機(jī)模型的定位結(jié)果要優(yōu)于等權(quán)隨機(jī)模型的定位結(jié)果。(2)研究了動(dòng)態(tài)定位中模糊度的單歷元快速有效地固定方法,提出了一種新的模糊度固定方法。這種方法首先在兩周的范圍內(nèi)搜索寬巷模糊度,然后再根據(jù)觀測(cè)方程之間的關(guān)系來固定基礎(chǔ)模糊度。并且結(jié)合實(shí)例分析了信噪比大小對(duì)寬巷模糊度固定的影響,實(shí)驗(yàn)結(jié)果顯示信噪比越大,模糊度解算的精度通常情況下也會(huì)越高。隨后提出了一種基于信噪比大小選星的部分模糊度搜索方法,并采用實(shí)測(cè)數(shù)據(jù)對(duì)該方法進(jìn)行分析,實(shí)驗(yàn)結(jié)果表明使用該算法可以極大地提高模糊度的解算效率。(3)對(duì)中短基線情況下單歷元?jiǎng)討B(tài)定位方法進(jìn)行了研究,分析了在前后歷元模糊度傳遞過程中更換參考衛(wèi)星的問題,使用“映射”矩陣將前一個(gè)歷元的模糊度傳遞到當(dāng)前歷元,可以有效地避免模糊度的重新初始化。分析了基于抗差估計(jì)的固定錯(cuò)誤模糊度剔除及粗差處理方法,利用抗差估計(jì)可以有效地降低粗差對(duì)定位結(jié)果的影響。并對(duì)幾種常用的周跳方法進(jìn)行簡(jiǎn)單介紹,多種方法的聯(lián)合使用可以有效地探測(cè)出周跳,提高模糊度傳遞過程中的正確性。(4)以實(shí)測(cè)數(shù)據(jù)對(duì)本文的單歷元定位方法進(jìn)行可行性和精度分析,實(shí)驗(yàn)結(jié)果顯示本文所研究的方法在中短基線定位中有較高的定位精度。(5)對(duì)自主研發(fā)的移動(dòng)測(cè)量系統(tǒng)軟件VsursPos1.0進(jìn)行介紹,該軟件可實(shí)現(xiàn)OEM格式的原始數(shù)據(jù)解碼和GNSS單歷元差分定位與測(cè)速。
[Abstract]:In the past ten years, the four major satellite navigation systems have been developing rapidly and continuously.The appearance of multi-system will help to improve the situation that the number of visualized satellites at partial time is less and the geometry structure of satellites is poor when the single system is located separately.Because GNSS differential technique can obtain high precision positioning results, it has wide application in high precision navigation and positioning.Although the accuracy of single epoch positioning results is lower than that of multi-epoch positioning results, the application of single epoch positioning will be more and more extensive because of the higher and higher efficiency requirements of modern measurement technology.Therefore, in this paper, the single epoch location algorithm is studied in detail.This paper mainly studies the following aspects: 1) the principle of multi-system GNSS positioning is analyzed, and the two-difference observation equation of multi-system GNSS is deduced in detail.The influence of different random models on the pseudo-range double difference and carrier double difference localization results is also analyzed.The experimental results show that the localization results of random model based on height angle and SNR are better than those of equal weight random model.A new method for fixing ambiguity is proposed.Firstly, the ambiguity of wide lane is searched in the range of two weeks, and then the basic ambiguity is fixed according to the relationship between observation equations.The effect of SNR on the ambiguity of wide roadway is analyzed with an example. The experimental results show that the greater the SNR, the higher the precision of ambiguity resolution.Then, a partial ambiguity search method based on SNR is proposed, and the method is analyzed by the measured data.The experimental results show that the algorithm can greatly improve the efficiency of ambiguity resolution. (3) the dynamic location method of order epoch in the case of short and medium baselines is studied, and the problem of replacing reference satellites in the process of ambiguity transmission of the front and rear epoch is analyzed.The ambiguity of the previous epoch can be transferred to the current epoch by using the "mapping" matrix, which can effectively avoid the reinitialization of the ambiguity.Based on robust estimation, fixed error ambiguity elimination and gross error processing are analyzed. Robust estimation can effectively reduce the influence of gross error on location results.Several commonly used cycle slip methods are briefly introduced. The combined use of various methods can effectively detect cycle slips.To improve the accuracy of ambiguity transmission. 4) to analyze the feasibility and accuracy of the single epoch positioning method based on the measured data.The experimental results show that the method studied in this paper has a high positioning accuracy in the short and medium baseline positioning. It introduces the mobile measurement system software VsursPos1.0, which is developed by ourselves.The software can decode the original data in OEM format and GNSS single epoch differential positioning and velocimetry.
【學(xué)位授予單位】：山東科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：P228.4

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本文編號(hào)：1755187