【摘要】：GNSS精密單點(diǎn)定位利用單臺接收機(jī)在全球范圍可直接獲得分米級至厘米級的實(shí)時(shí)動(dòng)態(tài)定位結(jié)果和毫米級的靜態(tài)定位結(jié)果。隨著四大導(dǎo)航衛(wèi)星系統(tǒng)的建立與發(fā)展,基于多導(dǎo)航衛(wèi)星系統(tǒng)及其組合的精密單點(diǎn)定位成為了研究熱點(diǎn)。借鑒已有的GNSS精密單點(diǎn)定位的模型與方法,開展多導(dǎo)航衛(wèi)星系統(tǒng)及其組合精密單點(diǎn)定位研究,縮短收斂時(shí)間,提高實(shí)時(shí)快速定位精度。 系統(tǒng)研究了基于多導(dǎo)航衛(wèi)星系統(tǒng)的精密單點(diǎn)定位數(shù)據(jù)處理理論、模型、方法和關(guān)鍵技術(shù)。在衛(wèi)星導(dǎo)航綜合處理軟件(Position And Navigation Data Analyst, PANDA)的基礎(chǔ)上實(shí)現(xiàn)了多導(dǎo)航衛(wèi)星系統(tǒng)的精密單點(diǎn)定位。 (1)深入研究了精密單點(diǎn)定位的基礎(chǔ)理論,包括GNSS精密單點(diǎn)定位中涉及到的時(shí)空框架及其轉(zhuǎn)換、GNSS基本觀測值及其組合以及觀測方程的線性化。 (2)詳細(xì)分析了GNSS定位中不同類型誤差的特性及其改正方法。對單導(dǎo)航衛(wèi)星系統(tǒng)的精密單點(diǎn)定位模型進(jìn)行了深入研究,并針對GLONASS系統(tǒng)中與頻率有關(guān)的硬件延遲的特性,建立了顧及其改正的觀測模型。基于單系統(tǒng)定位模型推導(dǎo)了多導(dǎo)航衛(wèi)星系統(tǒng)組合的精密單點(diǎn)定位模型。 (3)系統(tǒng)研究了GNSS精密單點(diǎn)定位數(shù)據(jù)質(zhì)量控制方法和參數(shù)估計(jì)法,主要涉及周跳探測、粗差剔除以及最小二乘法和卡爾曼濾波。 (4)利用IGS站的GPS和GLONASS雙系統(tǒng)觀測數(shù)據(jù)以及ESA提供的精密星歷和鐘差,采用GPS、GPS/GLONASS組合和GLONASS三種定位方式分別進(jìn)行靜態(tài)、后處理動(dòng)態(tài)和模擬實(shí)時(shí)動(dòng)態(tài)三種模式的精密單點(diǎn)定位實(shí)驗(yàn)。研究結(jié)果表明：三種定位方式重復(fù)性定位精度,在靜態(tài)模式下,平面精度達(dá)1～2mm,高程精度達(dá)2～3mm；在后處理動(dòng)態(tài)模式下,平面精度達(dá)1～2cm,高程精度達(dá)2～3cm；在模擬實(shí)時(shí)動(dòng)態(tài)模式下,定位結(jié)果收斂后,平面精度達(dá)1～3cm,高程精度達(dá)3～5cm。其中,GPS/GLONASS組合較單系統(tǒng)顯著提高了定位精度,在短時(shí)間定位以及動(dòng)態(tài)定位中,提高幅度更大。將IGS周解作為參考值時(shí),GLONASS高程方向存在明顯的系統(tǒng)偏差。在實(shí)時(shí)動(dòng)態(tài)定位收斂時(shí)間方面,若要在三個(gè)方向上均獲得10cm以上的定位精度,單系統(tǒng)的收斂時(shí)間為50分鐘左右；GPS/GLONASS組合的收斂時(shí)間為20分鐘左右。因此,GPS/GLONASS組合較單系統(tǒng)顯著縮短了收斂時(shí)間,提高了實(shí)時(shí)快速定位精度。 (5)基于GFZ提供的北斗精密星歷和鐘差,利用實(shí)測的北斗觀測數(shù)據(jù),進(jìn)行了精密單點(diǎn)定位實(shí)驗(yàn)。研究結(jié)果表明：北斗重復(fù)性定位精度,在靜態(tài)模式下,East、North和Up方向定位精度分別達(dá)5.9mm、1.2mm和4.5mm；在后處理動(dòng)態(tài)模式下,平面精度達(dá)1-2cm,高程精度達(dá)4～5cm；在模擬實(shí)時(shí)動(dòng)態(tài)模式下,定位結(jié)果收斂后,平面精度達(dá)1～2cm,高程精度達(dá)5～6cm；以定位精度達(dá)到10cm為收斂,East和Up方向的收斂時(shí)間為100分鐘左右,North方向的收斂為50分鐘左右。將GPS單天解作為參考值時(shí),北斗高程方向存在明顯的系統(tǒng)偏差。
[Abstract]:GNSS precise point positioning can directly obtain real-time dynamic positioning results from decimeter to centimeter level and static positioning results at millimeter level using a single receiver in the global range. With the establishment and development of four navigation satellite systems, precise single-point positioning based on multi-navigation satellite system and its combination has become a research hotspot. Based on the existing models and methods of GNSS precise single-point positioning, the research on multi-navigation satellite system and its combination precise single-point positioning is carried out, which shortens the convergence time and improves the real-time and fast positioning accuracy. The theory, model, method and key technology of precise single-point positioning data processing based on multi-navigation satellite system are systematically studied. On the basis of satellite navigation integrated processing software (Position And Navigation Data Analyst, PANDA), the precise single point positioning of multi-navigation satellite system is realized. The main contents of this thesis are as follows: (1) the basic theory of precise point positioning is deeply studied, including the space-time frame and its transformation involved in GNSS precise point positioning, the basic observations of GNSS and their combination, and the linearization of observation equations. (2) the characteristics and correction methods of different types of errors in GNSS positioning are analyzed in detail. In this paper, the precise single point positioning model of single navigation satellite system is deeply studied. According to the characteristics of frequency-related hardware delay in GLONASS system, an observation model is established, which takes into account the frequency-related hardware delay. Based on the single-system positioning model, the precise single-point positioning model of multi-navigation satellite system is derived. (3) the quality control method and parameter estimation method of GNSS precise single-point positioning data are studied systematically, including cycle-slip detection, gross error elimination, least square method and Kalman filter. (4) using the GPS and GLONASS dual-system observation data of IGS station and the precise ephemeris and clock error provided by ESA, the static state is carried out by the combination of GPS,GPS/GLONASS and the positioning method of GLONASS, respectively. Post-processing dynamic and simulation real-time dynamic three modes of precision single-point positioning experiment. The results show that in static mode, the accuracy of plane and elevation is up to 1? 2 mm and 2? 3 mm respectively, and in the dynamic mode of post-processing, the accuracy of plane and height is 1? 2 cm and 2? 3 cm, respectively. In the simulated real-time dynamic mode, after the convergence of the positioning results, the plane precision is 1? 3 cm, and the elevation precision is 3? 5 cm. Among them, the GPS/GLONASS combination significantly improves the positioning accuracy compared with the single system, and in the short-time positioning and dynamic positioning, the range of improvement is greater than that of the single system. When the IGS weekly solution is taken as the reference value, there is obvious systematic deviation in the GLONASS elevation direction. In the aspect of real-time dynamic positioning convergence time, the convergence time of single system is about 50 minutes and the convergence time of GPS/GLONASS combination is about 20 minutes if the accuracy of 10cm is more than 50 minutes in all three directions. Therefore, the convergence time of the GPS/GLONASS combination is significantly shorter than that of the single system, and the real-time fast positioning accuracy is improved. (5) based on the precise ephemeris and clock error of Beidou provided by GFZ, the precise point positioning experiment is carried out by using the observed data of Beidou. The results show that in static mode, the orientation accuracy of East,North and Up is 5.9 mm, 1.2 mm and 4.5 mm, respectively, and the repeatability accuracy of Beidou is 5.9mm, 1.2mm and 4.5mm respectively in static mode. In the post-processing dynamic mode, the plane precision is up to 1 ~ 2 cm, the elevation precision is up to 4 ~ 5 cm, and in the real-time dynamic mode of simulation, the plane precision is 1 ~ 2 cm and the elevation precision is 5 ~ 6 cm after the positioning result converges. The convergence time in the direction of East and Up is about 100 minutes and that of North is about 50 minutes when the precision of location reaches 10cm. The convergence time is about 100 minutes in East and Up directions and 50 minutes in North direction. When the GPS single-day solution is taken as the reference value, there is obvious systematic deviation in the elevation direction of Beidou.
【學(xué)位授予單位】：遼寧工程技術(shù)大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2013
【分類號】：P228.4

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