GNSS精密單點(diǎn)定位算法研究與實(shí)現(xiàn)
發(fā)布時(shí)間：2018-10-26 22:05
【摘要】：高精度GNSS單點(diǎn)定位是空間測(cè)量技術(shù)的熱點(diǎn)，GNSS精密單點(diǎn)定位（PPP）數(shù)據(jù)處理模型的不斷完善使其在測(cè)繪等各個(gè)領(lǐng)域得到廣泛應(yīng)用，但其周跳探測(cè)及修復(fù)和模糊度解算兩大關(guān)鍵問(wèn)題仍存在不足。本文研究GNSS PPP的周跳探測(cè)及修復(fù)和模糊度解算的新方法，并自主開(kāi)發(fā)GNSS PPP軟件以驗(yàn)證提出的新方法的可靠性和有效性，主要研究?jī)?nèi)容如下： 1）精密單點(diǎn)定位與差分定位主要區(qū)別之一在于精密單點(diǎn)定位需要對(duì)更多的誤差源進(jìn)行改正。本文首先分析了GNSS PPP各項(xiàng)誤差特性及其對(duì)解算精度的影響機(jī)理，給出了各項(xiàng)誤差源的量級(jí)。通過(guò)不同模型實(shí)驗(yàn)結(jié)果對(duì)比，確定最優(yōu)改正模型，以提高GNSS PPP導(dǎo)航定位精度； 2）數(shù)據(jù)預(yù)處理方法直接影響卡爾曼濾波的收斂速度和GNSS PPP的解算精度與可靠性，周跳探測(cè)及修復(fù)是其關(guān)鍵問(wèn)題之一。研究GNSS PPP非差觀測(cè)值周跳探測(cè)及修復(fù)問(wèn)題，提出基于經(jīng)驗(yàn)?zāi)B(tài)分解（EMD）異常值檢測(cè)的周跳探測(cè)方法。該方法分析觀測(cè)信息的信號(hào)特征及信號(hào)的異常值特性，通過(guò)檢測(cè)信號(hào)的異常值判斷周跳發(fā)生的位置與大小，并通過(guò)實(shí)例驗(yàn)證該方法的適用性； 3）研究了TECR/M-W組合周跳探測(cè)及修復(fù)算法，針對(duì)電子含量變化率（TECR）無(wú)法準(zhǔn)確探測(cè)采樣間隔較大（如30s）數(shù)據(jù)周跳的問(wèn)題，提出利用TECR預(yù)測(cè)值與實(shí)測(cè)值的殘差作為檢驗(yàn)量進(jìn)行周跳探測(cè)方法，消除TECR算法中時(shí)間項(xiàng)的影響。實(shí)驗(yàn)結(jié)果表明：改進(jìn)的TECR/M-W組合周跳探測(cè)及修復(fù)算法充分利用兩種算法的優(yōu)點(diǎn)，提高了周跳探測(cè)及修復(fù)效率，對(duì)任意采樣間隔、大小和不同組合的周跳均能有效探測(cè)并修復(fù)； 4）介紹了目前常用的PPP模糊度解算方法，在此基礎(chǔ)上通過(guò)推導(dǎo)浮點(diǎn)模糊度、寬巷組合模糊度與窄巷模糊度三者之間關(guān)系，提出無(wú)基站PPP模糊度解算方法。利用SOPAC提供的ITRF坐標(biāo)以及GAMIT解算結(jié)果作為真值，對(duì)全球IGS站數(shù)據(jù)與實(shí)測(cè)數(shù)據(jù)解算結(jié)果與之對(duì)比，驗(yàn)證提出的無(wú)基站PPP模糊度解算方法的解算精度和可靠性。實(shí)驗(yàn)結(jié)果表明：提出的PPP模糊度算法在定位精度和與參考坐標(biāo)的絕對(duì)偏差上相對(duì)于浮點(diǎn)解都有明顯提高； 5）研究GLONASS與GPS數(shù)據(jù)處理差異，分析GPS/GLONASS PPP與GPSPPP的區(qū)別，建立了GPS/GLONASS PPP解算模型。實(shí)驗(yàn)結(jié)果表明GPS/GLONASS組合定位可以?xún)?yōu)化衛(wèi)星分布，在GPS衛(wèi)星較少時(shí)提高PPP適用性，但受制于GLONASS精密星歷和鐘差的精度影響，GPS/GLONASS PPP的定位精度相對(duì)于GPS PPP并沒(méi)有得到明顯提高； 6）自主開(kāi)發(fā)GNSS PPP軟件，實(shí)現(xiàn)GPS PPP、GNSS PPP的浮點(diǎn)解和固定解兩種解算模式，，驗(yàn)證提出的非差觀測(cè)值周跳探測(cè)及修復(fù)和無(wú)基站模糊度算法的有效性和準(zhǔn)確性。
[Abstract]:High precision GNSS single point positioning is a hot spot in spatial measurement technology. With the improvement of (PPP) data processing model of GNSS precise single point positioning, it has been widely used in many fields, such as surveying and mapping. However, its cycle slip detection and restoration and ambiguity resolution are still two key problems. In this paper, a new method of cycle slip detection and restoration and ambiguity resolution of GNSS PPP is studied, and GNSS PPP software is developed to verify the reliability and effectiveness of the proposed method. The main research contents are as follows: 1) one of the main differences between precision single point positioning and differential positioning is that precision single point positioning needs to correct more error sources. In this paper, the error characteristics of GNSS PPP and its influence mechanism on the accuracy of solution are analyzed, and the order of magnitude of each error source is given. By comparing the experimental results of different models, the optimal correction model is determined to improve the accuracy of GNSS PPP navigation and positioning. 2) the data preprocessing method directly affects the convergence rate of Kalman filter and the accuracy and reliability of GNSS PPP. Cycle slip detection and repair is one of its key problems. In this paper, the problem of cycle slip detection and repair of GNSS PPP nondifferential observations is studied, and a cycle slip detection method based on empirical mode decomposition (EMD) (EMD) outliers detection is proposed. This method analyzes the signal characteristics of the observation information and the abnormal value characteristics of the signal, judges the position and size of the cycle slip by detecting the abnormal value of the signal, and verifies the applicability of the method by an example. 3) the combined cycle slip detection and repair algorithm of TECR/M-W is studied. Aiming at the problem that the electronic content change rate (TECR) can not accurately detect the cycle slip of data with large sampling interval (such as 30s), In order to eliminate the influence of time term in TECR algorithm, a cycle slip detection method based on the residual of TECR prediction value and measured value is proposed. The experimental results show that the improved TECR/M-W combined cycle slip detection and repair algorithm makes full use of the advantages of the two algorithms and improves the efficiency of cycle slip detection and repair. The cycle slips of different sizes and combinations can be detected and repaired effectively. 4) this paper introduces the PPP ambiguity calculation method which is commonly used at present. On this basis, by deducing the relationship among floating-point ambiguity, wide-lane combination ambiguity and narrow roadway ambiguity, a method for calculating PPP ambiguity without base station is put forward. Using the ITRF coordinates provided by SOPAC and the results of GAMIT as the true values, the accuracy and reliability of the proposed PPP ambiguity resolution method without base station are verified by comparing the global IGS station data with the measured data. The experimental results show that the proposed PPP ambiguity algorithm can improve the positioning accuracy and the absolute deviation from the reference coordinates obviously compared with the floating point solution. 5) the difference between GLONASS and GPS data processing is studied, the difference between GPS/GLONASS PPP and GPSPPP is analyzed, and the GPS/GLONASS PPP solution model is established. The experimental results show that GPS/GLONASS combined positioning can optimize the satellite distribution and improve the applicability of PPP when the GPS satellite is less, but it is limited by the precision of GLONASS precise ephemeris and clock error. The positioning accuracy of GPS/GLONASS PPP is not obviously improved compared with GPS PPP. 6) GNSS PPP software is developed independently to realize the floating-point solution and fixed solution of GPS PPP,GNSS PPP. The validity and accuracy of the proposed algorithm for detecting and repairing cycle slips and ambiguity without base station are verified.
【學(xué)位授予單位】：中國(guó)礦業(yè)大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2014
【分類(lèi)號(hào)】：P228.4
[Abstract]:High precision GNSS single point positioning is a hot spot in spatial measurement technology. With the improvement of (PPP) data processing model of GNSS precise single point positioning, it has been widely used in many fields, such as surveying and mapping. However, its cycle slip detection and restoration and ambiguity resolution are still two key problems. In this paper, a new method of cycle slip detection and restoration and ambiguity resolution of GNSS PPP is studied, and GNSS PPP software is developed to verify the reliability and effectiveness of the proposed method. The main research contents are as follows: 1) one of the main differences between precision single point positioning and differential positioning is that precision single point positioning needs to correct more error sources. In this paper, the error characteristics of GNSS PPP and its influence mechanism on the accuracy of solution are analyzed, and the order of magnitude of each error source is given. By comparing the experimental results of different models, the optimal correction model is determined to improve the accuracy of GNSS PPP navigation and positioning. 2) the data preprocessing method directly affects the convergence rate of Kalman filter and the accuracy and reliability of GNSS PPP. Cycle slip detection and repair is one of its key problems. In this paper, the problem of cycle slip detection and repair of GNSS PPP nondifferential observations is studied, and a cycle slip detection method based on empirical mode decomposition (EMD) (EMD) outliers detection is proposed. This method analyzes the signal characteristics of the observation information and the abnormal value characteristics of the signal, judges the position and size of the cycle slip by detecting the abnormal value of the signal, and verifies the applicability of the method by an example. 3) the combined cycle slip detection and repair algorithm of TECR/M-W is studied. Aiming at the problem that the electronic content change rate (TECR) can not accurately detect the cycle slip of data with large sampling interval (such as 30s), In order to eliminate the influence of time term in TECR algorithm, a cycle slip detection method based on the residual of TECR prediction value and measured value is proposed. The experimental results show that the improved TECR/M-W combined cycle slip detection and repair algorithm makes full use of the advantages of the two algorithms and improves the efficiency of cycle slip detection and repair. The cycle slips of different sizes and combinations can be detected and repaired effectively. 4) this paper introduces the PPP ambiguity calculation method which is commonly used at present. On this basis, by deducing the relationship among floating-point ambiguity, wide-lane combination ambiguity and narrow roadway ambiguity, a method for calculating PPP ambiguity without base station is put forward. Using the ITRF coordinates provided by SOPAC and the results of GAMIT as the true values, the accuracy and reliability of the proposed PPP ambiguity resolution method without base station are verified by comparing the global IGS station data with the measured data. The experimental results show that the proposed PPP ambiguity algorithm can improve the positioning accuracy and the absolute deviation from the reference coordinates obviously compared with the floating point solution. 5) the difference between GLONASS and GPS data processing is studied, the difference between GPS/GLONASS PPP and GPSPPP is analyzed, and the GPS/GLONASS PPP solution model is established. The experimental results show that GPS/GLONASS combined positioning can optimize the satellite distribution and improve the applicability of PPP when the GPS satellite is less, but it is limited by the precision of GLONASS precise ephemeris and clock error. The positioning accuracy of GPS/GLONASS PPP is not obviously improved compared with GPS PPP. 6) GNSS PPP software is developed independently to realize the floating-point solution and fixed solution of GPS PPP,GNSS PPP. The validity and accuracy of the proposed algorithm for detecting and repairing cycle slips and ambiguity without base station are verified.
【學(xué)位授予單位】：中國(guó)礦業(yè)大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2014
【分類(lèi)號(hào)】：P228.4
【參考文獻(xiàn)】
相關(guān)期刊論文 前10條
1 李明;高星偉;徐愛(ài)功;;一種改進(jìn)的周跳多項(xiàng)式擬合方法[J];測(cè)繪科學(xué);2008年04期
2 嚴(yán)新生;王一強(qiáng);白征東;過(guò)靜s
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