基于大范圍CORS網(wǎng)的GNSS實時定位算法研究
發(fā)布時間：2018-09-10 10:41
【摘要】：以長距離網(wǎng)絡RTK算法為主的基于大范圍CORS網(wǎng)的區(qū)域增強系統(tǒng),不僅可以減少建設基準站網(wǎng)的成本,而且可以解決建設基準站比較困難地方的網(wǎng)絡RTK系統(tǒng)建設問題。本文對長距離網(wǎng)絡RTK算法的定位理論和各類誤差處理方法做了系統(tǒng)的介紹和研究,首先研究和解決了長距離(測站間距一般100-200km)基準站整周模糊度的確定問題,然后進行高精度區(qū)域誤差模型的建立、觀測值誤差改正數(shù)的計算及流動站觀測誤差的改正,進而研究了流動站整周模糊度的動態(tài)解算方法,最后對本文的算法進行程序實現(xiàn),并使用實測數(shù)據(jù)進行算法實驗。本文的主要研究內容和成果有：(1)討論了基于大范圍CORS網(wǎng)的GNSS實時定位的有關理論基礎,包括GNSS載波相位和偽距觀測值及其觀測方程、GNSS定位觀測方程的線性化。介紹了GNSS定位中各種誤差的特性及其誤差處理方法,重點分析介紹了網(wǎng)絡RTK定位中對各種誤差的處理方法,主要是與距離相關性較強的GNSS衛(wèi)星軌道誤差、電離層延遲誤差和以對流層延遲為主的中性大氣延遲誤差的處理方法。(2)深入研究了基于大范圍CORS網(wǎng)的GNSS實時定位算法的整周模糊度確定理論和算法,在此基礎上提出了長距離基準站間整周模糊度的快速解算算法。重點研究了長距離基準站所包含的較大區(qū)域范圍內的誤差處理方法和觀測值的誤差改正理論。在長距離基準站整周模糊度固定的基礎上,詳細地介紹了利用綜合誤差改正的方法計算較大區(qū)域范圍內誤差改正數(shù)。研究了常用的整周模糊度解算方法,提出了流動站整周模糊度的解算方法。(3)對本文提出的算法使用C++編程語言進行程序實現(xiàn)和軟件編制。使用實測CORS網(wǎng)的觀測數(shù)據(jù)對各算法進行實驗檢驗和結果分析,流動站用戶能夠得到厘米級定位結果,證明了本文算法具有很好的可用性。
[Abstract]:The area enhancement system based on large range CORS net, which is based on the RTK algorithm of long distance network, can not only reduce the cost of constructing reference station network, but also solve the problem of network RTK system construction where the construction of reference station is difficult. In this paper, the localization theory and error processing methods of RTK algorithm for long distance networks are systematically introduced and studied. Firstly, the problem of determining the integer ambiguity of long distance (general 100-200km) reference stations is studied and solved. Then, the establishment of high-precision region error model, the calculation of error correction of observation value and the correction of observation error of mobile station are carried out, and the dynamic calculation method of integer ambiguity of mobile station is studied. Finally, the algorithm of this paper is realized by program. The algorithm experiment is carried out with the measured data. The main contents and achievements of this paper are as follows: (1) the theoretical basis of GNSS real-time positioning based on large-scale CORS nets is discussed, including the linearization of GNSS carrier phase and pseudo-range observations and their observation equations. This paper introduces the characteristics of various kinds of errors in GNSS positioning and their error handling methods, and emphatically analyzes the processing methods of various errors in network RTK positioning, mainly the orbit errors of GNSS satellites which have strong correlation with distance. The methods of dealing with ionospheric delay error and neutral atmospheric delay error with tropospheric delay are discussed. (2) the whole cycle ambiguity determination theory and algorithm of GNSS real-time location algorithm based on large range CORS nets are studied in depth. On this basis, a fast algorithm for calculating integer ambiguity between long distance reference stations is proposed. The error processing method and the error correction theory of the observed values in a large area included by the long distance reference station are studied. Based on the fixed integer ambiguity of the long distance reference station, the method of comprehensive error correction is introduced in detail to calculate the error correction in a large area. In this paper, the commonly used integer ambiguity resolution method is studied, and the calculation method of the whole cycle ambiguity in the mobile station is proposed. (3) the algorithm proposed in this paper is programmed and programmed with C programming language. Using the observed data of CORS net to test and analyze the results of each algorithm, the mobile station users can get the centimeter level positioning results, which proves that the algorithm in this paper has good usability.
【學位授予單位】：遼寧工程技術大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：P228.4
本文編號：2234203
[Abstract]:The area enhancement system based on large range CORS net, which is based on the RTK algorithm of long distance network, can not only reduce the cost of constructing reference station network, but also solve the problem of network RTK system construction where the construction of reference station is difficult. In this paper, the localization theory and error processing methods of RTK algorithm for long distance networks are systematically introduced and studied. Firstly, the problem of determining the integer ambiguity of long distance (general 100-200km) reference stations is studied and solved. Then, the establishment of high-precision region error model, the calculation of error correction of observation value and the correction of observation error of mobile station are carried out, and the dynamic calculation method of integer ambiguity of mobile station is studied. Finally, the algorithm of this paper is realized by program. The algorithm experiment is carried out with the measured data. The main contents and achievements of this paper are as follows: (1) the theoretical basis of GNSS real-time positioning based on large-scale CORS nets is discussed, including the linearization of GNSS carrier phase and pseudo-range observations and their observation equations. This paper introduces the characteristics of various kinds of errors in GNSS positioning and their error handling methods, and emphatically analyzes the processing methods of various errors in network RTK positioning, mainly the orbit errors of GNSS satellites which have strong correlation with distance. The methods of dealing with ionospheric delay error and neutral atmospheric delay error with tropospheric delay are discussed. (2) the whole cycle ambiguity determination theory and algorithm of GNSS real-time location algorithm based on large range CORS nets are studied in depth. On this basis, a fast algorithm for calculating integer ambiguity between long distance reference stations is proposed. The error processing method and the error correction theory of the observed values in a large area included by the long distance reference station are studied. Based on the fixed integer ambiguity of the long distance reference station, the method of comprehensive error correction is introduced in detail to calculate the error correction in a large area. In this paper, the commonly used integer ambiguity resolution method is studied, and the calculation method of the whole cycle ambiguity in the mobile station is proposed. (3) the algorithm proposed in this paper is programmed and programmed with C programming language. Using the observed data of CORS net to test and analyze the results of each algorithm, the mobile station users can get the centimeter level positioning results, which proves that the algorithm in this paper has good usability.
【學位授予單位】：遼寧工程技術大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：P228.4
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