北斗衛(wèi)星導(dǎo)航系統(tǒng)性能評(píng)估理論與試驗(yàn)驗(yàn)證
[Abstract]:The performance evaluation of satellite system is one of the main bases for the initial design, development and deployment of the satellite system and the expansion of the system. It is also an important guarantee for the continuous operation of the satellite system. The Beidou satellite navigation system in China adopts the three step strategy of "first test, post region, and then global", and the design of satellite constellations at various stages, performance index, and service It is of great practical significance to study the performance evaluation theory and method suitable for the Beidou system and to develop the regional system at the present stage and the development of the Beidou satellite system covering the world in the future.
This paper aims at establishing the performance evaluation system of the Beidou satellite navigation system, systematically studies the basic theory, model and method of the satellite navigation system, and designs and develops the performance evaluation software system based on the Beidou system and taking into account the GPS, GLONASS and Galileo, and realizes the comprehensive evaluation of the performance from the spatial signal layer to the service layer. On this basis, by analyzing and processing the massive measured data of the Beidou system, the basic performance upgrading process of the Beidou regional system is analyzed and compared according to the changes of the system constellation structure, and the accuracy of the Beidou system performance evaluation theory, method and software system is verified. Based on the data quality of the observed carrier observation value, the carrier noise ratio, the multi path and the noise level of the Beidou system and GPS under the same environment are compared and analyzed. The relative positioning of the short baseline and the precision single point positioning test are carried out, and the performance level of the high precision positioning of the Beidou is analyzed. The main research work and contribution of this paper are as follows:
1, the performance evaluation of GPS, GLONASS and Galileo navigation satellite system at home and abroad is analyzed and summarized. From improving the evaluation theory and method of the existing navigation system and the demand of the development of the Beidou satellite system in our country, the theory and method research of the Beidou satellite system performance evaluation and the necessity of the software development are expounded.
2, the basic theory and method of performance evaluation of GNSS satellite system represented by GPS are systematically studied. The essential performance indexes of GNSS satellite navigation are discussed emphatically, including the definition of availability, precision, completeness and continuity index and related calculation methods.
3, the calculation method suitable for the precision of the spatial signal of the Beidou system is proposed. The biggest feature of the Beidou regional satellite system is that the satellite constellations are mainly composed of GEO and IGSO geostationary orbit. The difference of the height of the orbit leads to the failure of the existing spatial signal error URE precision calculation method. The statistical formula of the Beidou URE precision is carried out in this paper. In detail, the calculation method of the distance error URRE of the Beidou user and the calculation method of the user range acceleration are analyzed in detail. Then the measured data are evaluated, and the analysis shows that the URE is better than 1.5 m: URRE is superior to 3.00mm/s, and URAE is better than 2.00mm/s2..
4, based on the observation data of the "Beidou test tracking network" of Wuhan University, the clock frequency stability of the Beidou navigation star is evaluated on orbit using the precision clock difference data obtained by the PANDA precision orbit determination software. The satellite clock is the core part of the satellite navigation system, and its performance will directly affect the service precision of the system. Based on the limited data resources, this paper comprehensively evaluates the dipper frequency stability by using the Beidou precision clock difference data. The stability of most atomic clocks in the Beidou on orbit satellites reaches 1-2 x 10--2, a thousand seconds stable up to 3-4 x 10-13, and the stability of ten thousand seconds reaches 1-2 * 10-13. The stability is up to 1-2 x 10-1 'magnitude. The stability of the North dipper rubidium clock is stable. The degree level is similar to that of the GPSBlock II A rubidium clock, the GLONASS-M satellite and the Japanese QZSS spaceborne atomic clocks, which are superior to the GPS Block II A caesium clock, but slightly worse than the Block II R rubidium clock and the Galileo rubidium clock.
5, the statistical characteristics of the spatial signal error of the Beidou are systematically analyzed for the first time. Using the kurtosis and skewness coefficient and the Q-Q map to verify the normal assumption of the Beidou spatial signal error, the error correlation between different satellites is tested. The results show that the spatial signal error distribution of the Beidou is not strictly subject to the error distribution. The zero mean normal distribution is closer to the student distribution. Meanwhile, the statistical results show that the error correlation between different satellites is very weak.
6, the PNT performance of the Beidou system since 2011 was statistically analyzed. Based on the "Beidou experimental network", the PNT performance of the typical monitoring stations in the Asia Pacific region was analyzed and calculated (June, January 2012 -2013). The evaluation results showed that the accuracy of the single frequency single point positioning service accuracy of the Beidou system near these monitoring stations was satisfied. Service indicators in the Beidou service area.
7, the PNT performance prediction method proposed in this paper is used to predict the PNT in the service area under the current situation of Beidou as a regional system, and recheck the data of the measured monitoring station. The results show that the current distribution of the PDOP value of the Beidou System in China is up to 3~5, and the three-dimensional positioning accuracy is better than 10 meters. When extended to the entire Asia Pacific region, the positioning level of most areas with precision in the 80. and 140. opening areas of the East Asia is less than 10 meters, and then the DOP value distribution under the 3G+3I+27M constellation and the possible PNT performance of the future Beidou global navigation system constellation are simply predicted. The results show that HDOP will be better than 1, and VDOP will be better than 2. The accuracy is better than 3 meters and the height can reach 4-5 meters. This result shows that the PNT performance of the Beidou system built in 2020 will be comparable to that of the current GPS.
8, for the first time, the algorithm of the absolute antenna phase center of the Beidou outdoor is realized and the high precision positioning performance of the dipper is evaluated. The theory and method of the absolute antenna phase center correction based on the robot are studied in this paper, and compared with the GPS known antenna phase center by the measured data analysis, the accuracy of the external coincidence is better than that of the LMM. The phase change of the Beidou antenna estimated by this technique eliminates the impact on the high precision positioning performance evaluation of the Beidou. Based on the results, this paper compares and analyzes the quality of the Beidou system and the GPS observation data under the same environment, and then carries out the performance test of the short baseline relative positioning and the precision single point positioning. The results show that the short baseline of the Beidou system is based on the results. The relative positioning can reach the mm level. The precision single point PPP can reach the cm level positioning level, and the positioning performance is basically close to that of GPS.
9, based on the performance evaluation of the Beidou and taking into account the GPS and Galileo systems, the performance evaluation software system of the satellite navigation system is designed and developed independently. The main research contents include the overall framework of the software, the function module, the algorithm flow and so on.
【學(xué)位授予單位】:武漢大學(xué)
【學(xué)位級(jí)別】:博士
【學(xué)位授予年份】:2013
【分類號(hào)】:P228.4
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