北斗衛(wèi)星導航系統(tǒng)性能評估理論與試驗驗證
發(fā)布時間：2018-07-26 12:14
【摘要】：衛(wèi)星系統(tǒng)性能評估是衛(wèi)星系統(tǒng)初期設計、研發(fā)和部署以及系統(tǒng)升級擴展的主要依據(jù)之一,也是衛(wèi)星系統(tǒng)連續(xù)運營重要保障。我國的北斗衛(wèi)星導航系統(tǒng)采取“先試驗、后區(qū)域、再全球”的三步走戰(zhàn)略,各個階段的衛(wèi)星星座設計、性能指標、服務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)的性能評估理論與方法對現(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)實意義。 本文以建立北斗衛(wèi)星導航系統(tǒng)性能評估體系為目標,系統(tǒng)研究衛(wèi)星導航系統(tǒng)的基本理論、模型、方法,并自主設計進而研制了以北斗系統(tǒng)為主、兼顧GPS、GLONASS、Galileo的性能評估軟件系統(tǒng),實現(xiàn)了從空間信號層到服務層性能綜合評估的較為完善的體系。在此基礎上,通過分析處理北斗系統(tǒng)試運行以來的海量實測數(shù)據(jù),按系統(tǒng)星座結構變化分階段對比分析了北斗區(qū)域系統(tǒng)基本的性能提升過程,進一步驗證了北斗系統(tǒng)性能評估理論、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值的數(shù)據(jù)質(zhì)量入手,對比分析相同環(huán)境下北斗系統(tǒng)與GPS的載噪比、多路徑和噪聲水平；開展了短基線相對定位和精密單點定位試驗,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如下： 1、分析總結了GPS、GLONASS和Galileo導航衛(wèi)星系統(tǒng)性能評估國內(nèi)外研究現(xiàn)狀。從完善現(xiàn)有導航系統(tǒng)的評估理論和方法以及我國北斗衛(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)性能評估基本理論與方法。重點論述了GNSS衛(wèi)星導航的必備性能指標,包括可用性、精度、完好性和連續(xù)性指標定義及相關計算方法。 3、提出了適用于北斗系統(tǒng)空間信號精度的計算方法。北斗區(qū)域衛(wèi)星系統(tǒng)的最大特點是衛(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致已有的空間信號誤差URE精度計算方法失效。本文對北斗URE精度的統(tǒng)計公式進行了詳細推導,同時詳細分析論證了北斗用戶距離率誤差URRE和用戶測距加速度的計算方法。然后對實測數(shù)據(jù)進行了評估,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“北斗試驗跟蹤網(wǎng)”觀測數(shù)據(jù),利用PANDA精密定軌軟件獲取的精密鐘差數(shù)據(jù)在軌評估了北斗導航星時鐘頻率穩(wěn)定度。衛(wèi)星鐘作為導航系統(tǒng)的星上時間基準,是衛(wèi)星導航系統(tǒng)的核心部分,其性能將直接影響系統(tǒng)的服務精度。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)定度達到1-2×10--2,千秒穩(wěn)達3-4×10-13,萬秒穩(wěn)定度達1-2×10-13量級,天穩(wěn)定度可達1-2×10-1‘量級。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,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誤差的統(tǒng)計特性。利用統(tǒng)計學中的峰度和偏度系數(shù)以及Q-Q圖對北斗空間信號誤差進行正態(tài)假設的驗證,同時對不同衛(wèi)星之間的誤差相關性進行了假設檢驗。結果表明北斗空間信號誤差分布并不嚴格服從零均值正態(tài)分布,而更接近于學生分布。同時,統(tǒng)計結果表明不同衛(wèi)星之間的誤差相關性很弱。 6、統(tǒng)計分析了自2011年北斗系統(tǒng)試運行以來的PNT性能。本文基于“北斗實驗網(wǎng)”對分布在亞太地區(qū)的典型監(jiān)測站的PNT性能進行了分析計算(2012年1月-2013年6月).評估結果表明這些監(jiān)測站附近北斗系統(tǒng)單頻偽距單點定位服務精度已滿足北斗服務區(qū)內(nèi)的服務指標。 7、利用本文提出的PNT性能預測方法對北斗當前為區(qū)域系統(tǒng)的情況下對服務區(qū)內(nèi)的PNT進行預測,并用實測監(jiān)測站的數(shù)據(jù)進行了復核。推算的結果表明,當前北斗系統(tǒng)在中國地區(qū)的PDOP值分布大部分達到3～5,三維定位精度優(yōu)于10米；但范圍擴大到整個亞太地區(qū)時,在精度處于東經(jīng)80。和140。開外的大部分地區(qū)達不到10米的定位水平；然后針對將來的北斗全球?qū)Ш较到y(tǒng)(3G+3I+27M)星座下的DOP值分布和可能達到的PNT性能進行簡單預測,結果表明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4-5米。這一結果表明,2020年建成的北斗系統(tǒng)的PNT性能將與當前GPS相當。 8、首次實現(xiàn)了北斗室外絕對天線相位中心算法并評估了北斗高精度定位性能。本文深入研究了基于機器人的絕對天線相位中心校正理論與方法,并通過實測數(shù)據(jù)分析與GPS已知天線相位中心進行比較,取得了優(yōu)于lmm的外符合精度。基于該技術估算的北斗天線相位變化消除了其對北斗高精度定位性能評估的影響。基于該項成果,本文對比分析相同環(huán)境下北斗系統(tǒng)與GPS觀測數(shù)據(jù)質(zhì)量,然后開展了短基線相對定位和精密單點定位的性能測試。結果表明,北斗系統(tǒng)的短基線相對定位可到mm級,精密單點PPP可達到cm級的定位水平,定位性能與GPS基本接近。 9、以北斗性能評估為主,兼顧GPS和Galileo系統(tǒng),自主設計并研制了衛(wèi)星導航系統(tǒng)性能評估軟件系統(tǒng),主要研究內(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
本文編號：2145977
[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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