【摘要】：精密單點(diǎn)定位是指利用IGS等機(jī)構(gòu)提供的高精度軌道和鐘差數(shù)據(jù),利用單臺(tái)GNSS接收機(jī)所采集的雙頻偽距和載波相位觀測(cè)量進(jìn)行定位解算的高精度絕對(duì)定位方法�？柭鼮V波是精密單點(diǎn)定位普遍采用的解算模式。精密單點(diǎn)定位的解算過(guò)程中存在著難點(diǎn)和局限性:第一、周跳探測(cè)方法受到觀測(cè)量類(lèi)型的限制,數(shù)據(jù)預(yù)處理難度較大。第二、需要考慮眾多測(cè)量誤差然后消除或減弱。第三、整周模糊度的固定難以完成導(dǎo)致收斂速度較慢,定位精度也受到影響。第四、實(shí)時(shí)精密軌道和鐘差文件的實(shí)時(shí)性難以保證。同時(shí)卡爾曼濾波也存在著局限性:在動(dòng)態(tài)精密單點(diǎn)定位中運(yùn)動(dòng)模型的噪聲可能無(wú)法精確模擬或者測(cè)量噪聲不是正態(tài)分布,因此使用卡爾曼濾波進(jìn)行動(dòng)態(tài)解算結(jié)果的精度可能會(huì)受到影響。本文采用精密單點(diǎn)定位經(jīng)典模式,對(duì)精密單點(diǎn)定位中的誤差項(xiàng)進(jìn)行減弱或消除;在數(shù)據(jù)預(yù)處理中采用TurboEdit進(jìn)行周跳探測(cè),并且考慮了鐘跳和GPS硬件延遲的影響;采用拉格朗日插值對(duì)精密軌道和鐘差數(shù)據(jù)進(jìn)行加密;在精密單點(diǎn)定位中添加了改進(jìn)新息序列自適應(yīng)卡爾曼濾波和自適應(yīng)抗差卡爾曼濾波兩種算法。本文將兩種自適應(yīng)卡爾曼濾波分別與標(biāo)準(zhǔn)卡爾曼濾波進(jìn)行對(duì)比,分析它們能否抑制狀態(tài)異常和觀測(cè)異常對(duì)定位解算的影響。
[Abstract]:Precise single point positioning is a high-precision absolute positioning method which uses the high-precision orbit and clock difference data provided by IGS and so on, and uses the dual-frequency pseudo-range and carrier phase observations collected by a single GNSS receiver. Kalman filter is widely used in precise single point positioning. There are some difficulties and limitations in the calculation of precise single point positioning. Firstly, the method of cycle slip detection is limited by the type of observation, and the data preprocessing is difficult. Second, a large number of measurement errors need to be considered and then eliminated or weakened. Third, the difficulty of fixing the integer ambiguity leads to the slow convergence speed and the influence of positioning accuracy. Fourth, the real-time precision track and clock error file is difficult to guarantee. At the same time, Kalman filter also has some limitations: the noise of moving model may not be accurately simulated or the measurement noise is not normal distribution in dynamic precise single point positioning. Therefore, the accuracy of dynamic solution using Kalman filter may be affected. In this paper, the classical mode of precision single point positioning is used to reduce or eliminate the error in precision single point positioning, and TurboEdit is used to detect cycle slips in data preprocessing, and the effects of clock slips and GPS hardware delays are taken into account. Lagrangian interpolation is used to encrypt the precision orbit and clock error data, and two improved adaptive Kalman filtering and robust Kalman filtering algorithms are added to the precision single point positioning. In this paper, two kinds of adaptive Kalman filter are compared with standard Kalman filter, and the influence of state anomaly and observation anomaly on location calculation is analyzed.
【學(xué)位授予單位】：西南交通大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：P228.4

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