【摘要】：高精度GPS動(dòng)態(tài)定位通常采用載波相位差分定位的方式，需要解決的關(guān)鍵問(wèn)題是周跳探測(cè)和整周模糊度固定。然而，在城市、叢林等障礙物較多的地區(qū)進(jìn)行動(dòng)態(tài)測(cè)量時(shí)，GPS衛(wèi)星信號(hào)容易失鎖，多路徑等噪聲因素影響也很?chē)?yán)重，這會(huì)導(dǎo)致周跳的頻繁發(fā)生和整周模糊度不再可靠。因此，GPS失鎖以后整周模糊度的快速恢復(fù)以及周跳的可靠探測(cè)就成了GPS高精度動(dòng)態(tài)定位的重要問(wèn)題，也是研究的熱點(diǎn)和難點(diǎn)。 本文基于GPS精密動(dòng)態(tài)相對(duì)定位技術(shù)，系統(tǒng)研究了INS輔助GPS動(dòng)態(tài)定位的兩項(xiàng)技術(shù)，即INS輔助整周模糊度的解算和INS輔助周跳探測(cè)。文中包含了以下工作內(nèi)容和研究成果： 1.簡(jiǎn)要介紹了GPS動(dòng)態(tài)定位的數(shù)學(xué)模型和INS的原理特點(diǎn)，分析了影響動(dòng)態(tài)定位精度的誤差因素及改正方法。 2.系統(tǒng)研究了GPS動(dòng)態(tài)定位的兩項(xiàng)關(guān)鍵技術(shù)，即周跳探測(cè)與處理和整周模糊度解算，并給出了利用自編的相對(duì)定位程序進(jìn)行GPS動(dòng)態(tài)定位解算的結(jié)果。自編程序采用雙差觀測(cè)模型，廣播星歷計(jì)算衛(wèi)星位置，組合方法探測(cè)周跳，Kalman濾波方法估計(jì)模糊度浮點(diǎn)解，最小二乘模糊度去相關(guān)平差法(Least-square Ambiguity Decorrelation Adjustment，LAMBDA)搜索整周模糊度以及Ratio值檢驗(yàn)法確認(rèn)整周模糊度。解算結(jié)果表明，相對(duì)定位程序?qū)晤lL1模糊度固定成功率在80%左右，寬巷模糊度固定成功率達(dá)到99%，模糊度固定以后單頻L1解算定位誤差的RMS小于兩個(gè)厘米，說(shuō)明程序具備了較高的精度及可靠性。 3.研究了INS輔助GPS整周模糊度解算技術(shù)。文中給出了三種輔助的方法，即直接法、兩步法和全組合法，并對(duì)兩步法和全組合法的等價(jià)性進(jìn)行了推導(dǎo)。介紹了理論上評(píng)價(jià)模糊度搜索空間及解算精度的兩個(gè)指標(biāo)，即模糊度精度衰減因子(Ambiguity Dilution ofPrecision， ADOP)和模糊度解算精度提高的百分率（相對(duì)于僅有GPS數(shù)據(jù)的情況下，模糊度解算精度提高的百分率），并以此為基礎(chǔ)，通過(guò)算例分析了不同INS位置精度和輔助方法下，模糊度搜索空間及解算精度變化情況。結(jié)果表明，當(dāng)INS位置精度較高時(shí)，如優(yōu)于0.2m時(shí)，模糊度搜索空間將明顯縮小，解算精度也會(huì)明顯提高，隨著INS位置精度的下降，三種方法的輔助效果都會(huì)變差，且直接法輔助效果下降更快。 4.給出了GPS不同失鎖時(shí)間及三種輔助方法下，單頻L1模糊度固定所需的時(shí)間情況。結(jié)果表明，在GPS短時(shí)間失鎖情況下，如失鎖時(shí)間小于30s，INS輔助模糊度解算能夠縮短模糊度的固定時(shí)間，，從而快速地恢復(fù)整周模糊度。 5.研究了INS輔助GPS周跳探測(cè)技術(shù)。文中基于Kalman濾波新息檢驗(yàn)理論構(gòu)造周跳檢測(cè)量，運(yùn)用χ~2檢驗(yàn)的方法進(jìn)行周跳檢驗(yàn)，并利用最小可探測(cè)偏差(Minimum Detectable Bias,MDB)進(jìn)行周跳的識(shí)別定位。算例分析了周跳檢測(cè)量和MDB值的特性，并運(yùn)用該方法對(duì)仿真的周跳進(jìn)行了探測(cè)。結(jié)果表明，該方法不僅能夠探測(cè)單周跳，而且能夠同時(shí)探測(cè)多個(gè)周跳的情況，在GPS失鎖時(shí)間為2秒時(shí)，對(duì)小到1周的周跳也能正確地探測(cè)出來(lái)。
[Abstract]:High-precision GPS dynamic positioning usually adopts carrier phase difference positioning mode, and the key problem that needs to be solved is that the round-hop detection and the whole-cycle ambiguity are fixed. However, when dynamic measurement is carried out in areas such as cities, jungles and the like, the influence of GPS satellite signals on noise factors such as lock-out and multi-path is also very serious, which can lead to the frequent occurrence of the cycle and the ambiguity of the whole-cycle ambiguity. Therefore, the fast recovery of the whole-cycle ambiguity and the reliable detection of the cycle jump are the important problems of GPS high-precision dynamic positioning after the GPS is lost, and it is also a hot point and a difficult point of the research. In this paper, based on the technology of GPS precise dynamic relative location, the two techniques of INS-assisted GPS dynamic positioning are studied, that is, the solution of the whole-cycle ambiguity of the INS and the auxiliary cycle of the INS. The following work contents and research are included in this paper. 1. The mathematical model of GPS dynamic positioning and the principle of INS are briefly introduced. The error factors and the change of the dynamic positioning accuracy are analyzed. In this paper, two key technologies of GPS dynamic positioning, namely, the weekly-hop detection and processing and the whole-cycle ambiguity resolution, are studied in this paper, and the dynamic positioning of GPS is given by using the self-designed relative positioning program. The results of the solution are as follows: The self-designed program uses the two-difference observation model, the broadcast ephemeris to calculate the satellite position, the combination method detects the cycle-hop, the Kalman filter method estimates the ambiguity-floating-point solution, the least-square-degree-of-least-square-degree-to-correlation level difference method (LAMDA) searches for the whole-cycle ambiguity, and the Ratio value test method confirms The results show that the fixed success rate of single-frequency L1 ambiguity is about 80%, the fixed success rate of the wide-lane ambiguity is 99%, and the RMS of the single-frequency L1 solution positioning error after the ambiguity is fixed is less than two centimeters. 3. The whole time of INS-assisted GPS is studied. In this paper, three kinds of auxiliary methods, namely, direct method, two-step method and all-group method, are given in this paper, and the two-step method and all-group method are also given. In this paper, the value of the fuzzy degree search space and the resolution precision are derived. The fuzzy degree precision attenuation factor (ADOP) and the percentage of the ambiguity resolution accuracy (with respect to the GPS data only) are introduced. Based on this, a numerical example is given to analyze the search space and solution of fuzzy degree with different INS position accuracy and auxiliary method. The results show that when the position accuracy of INS is high, for example, the position accuracy of INS is better than 0.2m, the fuzzy degree search space will be reduced obviously, and the resolution precision can be obviously improved. With the decrease of the INS position accuracy, the auxiliary effect of the three methods will be deteriorated, and the direct method and auxiliary method 4. The single-frequency L1 ambiguity is given under the different time of the GPS and the three kinds of auxiliary methods. The results show that the INS-assisted ambiguity resolution can shorten the fixed time of the fuzzy degree in the case of short-time lock-out of the GPS, such as the time of the lock-out time is less than 30s, so that the time is fast. Fast recovery of full-cycle ambiguity.5. Study of INS In this paper, based on the theory of Kalman filter new-interest test, the detection of the cycle-hop is constructed, and the method of 1-2 test is used to check the cycle-hop, and the minimum detectable bias (MD) is used. B) The identification and location of the peripheral hop are carried out. An example is given to analyze the characteristics of the week-hop detection and the value of the MDB, and the method is applied. The results show that the method not only can detect the single-cycle jump, but also can detect the condition of multiple cycles at the same time. When the time of the GPS lock-out time is 2 seconds, it is as small as 1 week.
【學(xué)位授予單位】：解放軍信息工程大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2013
【分類(lèi)號(hào)】：P228.4

【參考文獻(xiàn)】

相關(guān)期刊論文 前1條

1 劉超;王堅(jiān);路鑫;高井祥;;GPS載波相位觀測(cè)值隨機(jī)模型的比較研究[J];測(cè)繪科學(xué);2010年06期

相關(guān)碩士學(xué)位論文 前1條

1 王成;載波相位差分動(dòng)態(tài)定位的方法研究[D];長(zhǎng)安大學(xué);2010年

本文編號(hào)：2506311