【摘要】：衛(wèi)星系統(tǒng)性能評(píng)估是衛(wèi)星系統(tǒng)初期設(shè)計(jì)、研發(fā)和部署以及系統(tǒng)升級(jí)擴(kuò)展的主要依據(jù)之一,也是衛(wèi)星系統(tǒng)連續(xù)運(yùn)營(yíng)重要保障。我國(guó)的北斗衛(wèi)星導(dǎo)航系統(tǒng)采取“先試驗(yàn)、后區(qū)域、再全球”的三步走戰(zhàn)略,各個(gè)階段的衛(wèi)星星座設(shè)計(jì)、性能指標(biāo)、服務(wù)范圍等既有承前啟后、平穩(wěn)過渡的作用又有各自特色。因此研究適合于北斗系統(tǒng)的性能評(píng)估理論與方法對(duì)現(xiàn)階段的區(qū)域系統(tǒng)和將來覆蓋全球的北斗衛(wèi)星系統(tǒng)發(fā)展具有重要的現(xiàn)實(shí)意義。 本文以建立北斗衛(wèi)星導(dǎo)航系統(tǒng)性能評(píng)估體系為目標(biāo),系統(tǒng)研究衛(wèi)星導(dǎo)航系統(tǒng)的基本理論、模型、方法,并自主設(shè)計(jì)進(jìn)而研制了以北斗系統(tǒng)為主、兼顧GPS、GLONASS、Galileo的性能評(píng)估軟件系統(tǒng),實(shí)現(xiàn)了從空間信號(hào)層到服務(wù)層性能綜合評(píng)估的較為完善的體系。在此基礎(chǔ)上,通過分析處理北斗系統(tǒng)試運(yùn)行以來的海量實(shí)測(cè)數(shù)據(jù),按系統(tǒng)星座結(jié)構(gòu)變化分階段對(duì)比分析了北斗區(qū)域系統(tǒng)基本的性能提升過程,進(jìn)一步驗(yàn)證了北斗系統(tǒng)性能評(píng)估理論、方法和軟件系統(tǒng)的正確性。從影響高精度定位的載波觀測(cè)值的數(shù)據(jù)質(zhì)量入手,對(duì)比分析相同環(huán)境下北斗系統(tǒng)與GPS的載噪比、多路徑和噪聲水平；開展了短基線相對(duì)定位和精密單點(diǎn)定位試驗(yàn),分析了北斗高精度定位的性能水平。本文主要研究工作及貢獻(xiàn)如下： 1、分析總結(jié)了GPS、GLONASS和Galileo導(dǎo)航衛(wèi)星系統(tǒng)性能評(píng)估國(guó)內(nèi)外研究現(xiàn)狀。從完善現(xiàn)有導(dǎo)航系統(tǒng)的評(píng)估理論和方法以及我國(guó)北斗衛(wèi)星系統(tǒng)發(fā)展的需求出發(fā),闡述了北斗衛(wèi)星系統(tǒng)性能評(píng)估的理論方法研究和軟件研制的必要性。 2、系統(tǒng)研究了以GPS為代表的GNSS衛(wèi)星系統(tǒng)性能評(píng)估基本理論與方法。重點(diǎn)論述了GNSS衛(wèi)星導(dǎo)航的必備性能指標(biāo),包括可用性、精度、完好性和連續(xù)性指標(biāo)定義及相關(guān)計(jì)算方法。 3、提出了適用于北斗系統(tǒng)空間信號(hào)精度的計(jì)算方法。北斗區(qū)域衛(wèi)星系統(tǒng)的最大特點(diǎn)是衛(wèi)星星座主要以GEO和IGSO地球同步軌道組成,其軌道高度的不同導(dǎo)致已有的空間信號(hào)誤差URE精度計(jì)算方法失效。本文對(duì)北斗URE精度的統(tǒng)計(jì)公式進(jìn)行了詳細(xì)推導(dǎo),同時(shí)詳細(xì)分析論證了北斗用戶距離率誤差URRE和用戶測(cè)距加速度的計(jì)算方法。然后對(duì)實(shí)測(cè)數(shù)據(jù)進(jìn)行了評(píng)估,分析得出URE優(yōu)于1.5米：URRE優(yōu)于3.00mm/s; URAE優(yōu)于2.00mm/s2。 4、基于武漢大學(xué)“北斗試驗(yàn)跟蹤網(wǎng)”觀測(cè)數(shù)據(jù),利用PANDA精密定軌軟件獲取的精密鐘差數(shù)據(jù)在軌評(píng)估了北斗導(dǎo)航星時(shí)鐘頻率穩(wěn)定度。衛(wèi)星鐘作為導(dǎo)航系統(tǒng)的星上時(shí)間基準(zhǔn),是衛(wèi)星導(dǎo)航系統(tǒng)的核心部分,其性能將直接影響系統(tǒng)的服務(wù)精度。本文依靠有限的數(shù)據(jù)資源利用北斗精密鐘差數(shù)據(jù)綜合評(píng)估了北斗頻率穩(wěn)定度。北斗在軌衛(wèi)星大部分原子鐘分鐘穩(wěn)定度分鐘穩(wěn)定度達(dá)到1-2×10--2,千秒穩(wěn)達(dá)3-4×10-13,萬秒穩(wěn)定度達(dá)1-2×10-13量級(jí),天穩(wěn)定度可達(dá)1-2×10-1‘量級(jí)。北斗銣鐘穩(wěn)定度水平與GPSBlock Ⅱ A的銣原子鐘、GLONASS-M衛(wèi)星和日本的QZSS星載原子鐘性能水平相當(dāng),優(yōu)于GPS Block ⅡA的銫鐘,而略差于Block ⅡR銣鐘和Galileo銣鐘。 5、首次系統(tǒng)分析了北斗空間信號(hào)誤差的統(tǒng)計(jì)特性。利用統(tǒng)計(jì)學(xué)中的峰度和偏度系數(shù)以及Q-Q圖對(duì)北斗空間信號(hào)誤差進(jìn)行正態(tài)假設(shè)的驗(yàn)證,同時(shí)對(duì)不同衛(wèi)星之間的誤差相關(guān)性進(jìn)行了假設(shè)檢驗(yàn)。結(jié)果表明北斗空間信號(hào)誤差分布并不嚴(yán)格服從零均值正態(tài)分布,而更接近于學(xué)生分布。同時(shí),統(tǒng)計(jì)結(jié)果表明不同衛(wèi)星之間的誤差相關(guān)性很弱。 6、統(tǒng)計(jì)分析了自2011年北斗系統(tǒng)試運(yùn)行以來的PNT性能。本文基于“北斗實(shí)驗(yàn)網(wǎng)”對(duì)分布在亞太地區(qū)的典型監(jiān)測(cè)站的PNT性能進(jìn)行了分析計(jì)算(2012年1月-2013年6月).評(píng)估結(jié)果表明這些監(jiān)測(cè)站附近北斗系統(tǒng)單頻偽距單點(diǎn)定位服務(wù)精度已滿足北斗服務(wù)區(qū)內(nèi)的服務(wù)指標(biāo)。 7、利用本文提出的PNT性能預(yù)測(cè)方法對(duì)北斗當(dāng)前為區(qū)域系統(tǒng)的情況下對(duì)服務(wù)區(qū)內(nèi)的PNT進(jìn)行預(yù)測(cè),并用實(shí)測(cè)監(jiān)測(cè)站的數(shù)據(jù)進(jìn)行了復(fù)核。推算的結(jié)果表明,當(dāng)前北斗系統(tǒng)在中國(guó)地區(qū)的PDOP值分布大部分達(dá)到3～5,三維定位精度優(yōu)于10米；但范圍擴(kuò)大到整個(gè)亞太地區(qū)時(shí),在精度處于東經(jīng)80。和140。開外的大部分地區(qū)達(dá)不到10米的定位水平；然后針對(duì)將來的北斗全球?qū)Ш较到y(tǒng)(3G+3I+27M)星座下的DOP值分布和可能達(dá)到的PNT性能進(jìn)行簡(jiǎn)單預(yù)測(cè),結(jié)果表明HDOP將優(yōu)于1,而VDOP將優(yōu)于2.0,水平精度優(yōu)于3米,高程可達(dá)4-5米。這一結(jié)果表明,2020年建成的北斗系統(tǒng)的PNT性能將與當(dāng)前GPS相當(dāng)。 8、首次實(shí)現(xiàn)了北斗室外絕對(duì)天線相位中心算法并評(píng)估了北斗高精度定位性能。本文深入研究了基于機(jī)器人的絕對(duì)天線相位中心校正理論與方法,并通過實(shí)測(cè)數(shù)據(jù)分析與GPS已知天線相位中心進(jìn)行比較,取得了優(yōu)于lmm的外符合精度�；谠摷夹g(shù)估算的北斗天線相位變化消除了其對(duì)北斗高精度定位性能評(píng)估的影響�；谠擁�(xiàng)成果,本文對(duì)比分析相同環(huán)境下北斗系統(tǒng)與GPS觀測(cè)數(shù)據(jù)質(zhì)量,然后開展了短基線相對(duì)定位和精密單點(diǎn)定位的性能測(cè)試。結(jié)果表明,北斗系統(tǒng)的短基線相對(duì)定位可到mm級(jí),精密單點(diǎn)PPP可達(dá)到cm級(jí)的定位水平,定位性能與GPS基本接近。 9、以北斗性能評(píng)估為主,兼顧GPS和Galileo系統(tǒng),自主設(shè)計(jì)并研制了衛(wèi)星導(dǎo)航系統(tǒng)性能評(píng)估軟件系統(tǒng),主要研究?jī)?nèi)容包括：軟件總體框架、功能模塊、算法流程等。
[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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