發(fā)布時(shí)間：2018-05-16 19:05

  本文選題：多星座 + 混合觀測(cè)網(wǎng)絡(luò)��； 參考：《西南交通大學(xué)》2016年博士論文

【摘要】：隨著GNSS技術(shù)在地球物理、大地測(cè)量等方向的深入研究和應(yīng)用,國(guó)內(nèi)以中國(guó)大陸構(gòu)造環(huán)境監(jiān)測(cè)網(wǎng)絡(luò)和各省級(jí)CORS為代表的各行業(yè)和區(qū)域CORS網(wǎng)絡(luò)相繼建成,并已覆蓋我國(guó)大部分地區(qū)。CORS站已經(jīng)成為空間數(shù)據(jù)基礎(chǔ)設(shè)施的重要組成部分,并激起了廣域范圍厘米級(jí)實(shí)時(shí)位置服務(wù)研究熱潮；但是由于應(yīng)用目標(biāo)的差異,各CORS對(duì)GNSS接收機(jī)設(shè)備、網(wǎng)絡(luò)通訊環(huán)境等的建設(shè)標(biāo)準(zhǔn)不一,以網(wǎng)絡(luò)RTK應(yīng)用為代表的CORS網(wǎng)實(shí)時(shí)服務(wù)相關(guān)應(yīng)用很少將不同CORS網(wǎng)混合應(yīng)用。近年來(lái),中國(guó)北斗衛(wèi)星導(dǎo)航系統(tǒng)組網(wǎng)不斷完善,GPS/BDS/GLONASS三星系統(tǒng)目前在亞太地區(qū)平均可觀測(cè)的GNSS衛(wèi)星數(shù)已經(jīng)多于25顆。為了進(jìn)一步改善COR S站觀測(cè)質(zhì)量和位置服務(wù)能力,部分CORS網(wǎng)正在或者正準(zhǔn)備對(duì)現(xiàn)有站點(diǎn)進(jìn)行BDS升級(jí),而其他CORS網(wǎng)出于建設(shè)成本和應(yīng)用目的考慮,未進(jìn)行或者只對(duì)部分站點(diǎn)進(jìn)行了升級(jí)。這種測(cè)站間可用星座的差異進(jìn)一步加大了多星座CORS觀測(cè)網(wǎng)混合應(yīng)用的難度。隨著物聯(lián)網(wǎng)的深入發(fā)展,支持廣域范圍、海量用戶的分米級(jí)和厘米級(jí)高精度位置服務(wù)需求越趨強(qiáng)烈；《國(guó)家衛(wèi)星導(dǎo)航產(chǎn)業(yè)中長(zhǎng)期發(fā)展規(guī)劃》也明確指出,到2020年,我國(guó)的衛(wèi)星導(dǎo)航產(chǎn)業(yè)規(guī)模將超過4000億元。屆時(shí),單獨(dú)依靠某個(gè)部門的資源將很難滿足產(chǎn)業(yè)需求,整合現(xiàn)有CORS資源已經(jīng)成為當(dāng)前GNSS位置服務(wù)產(chǎn)業(yè)發(fā)展的主要課題。然而,實(shí)際應(yīng)用情況不容樂觀。首先,目前仍然缺乏一套有效管理所有CORS站的方案；其次,現(xiàn)有的網(wǎng)絡(luò)RTK服務(wù)系統(tǒng)在接收機(jī)和天線多樣化、通訊和觀測(cè)條件復(fù)雜的混合觀測(cè)網(wǎng)應(yīng)用中的表現(xiàn)并不理想,且在兼容BDS網(wǎng)絡(luò)RTK服務(wù)方面仍有不足。相關(guān)課題仍需進(jìn)一步研究。為了適應(yīng)當(dāng)前GNSS位置服務(wù)產(chǎn)業(yè)發(fā)展,加強(qiáng)BDS/CORS網(wǎng)絡(luò)實(shí)時(shí)位置服務(wù)應(yīng)用,本文圍繞多星座CORS混合觀測(cè)網(wǎng)絡(luò)實(shí)時(shí)位置服務(wù)中涉及的GNSS觀測(cè)模型與誤差分析、混合觀測(cè)網(wǎng)的組網(wǎng)與解算策略、VRS技術(shù)和GNSS觀測(cè)網(wǎng)絡(luò)位置服務(wù)的性能監(jiān)測(cè)等關(guān)鍵技術(shù)進(jìn)行了深入研究,并取得了部分成果,可以為多星座CORS混合觀測(cè)網(wǎng)應(yīng)用提供了理論參考。文中首先結(jié)合GNSS各星座系統(tǒng)、國(guó)內(nèi)CORS觀測(cè)網(wǎng),以及實(shí)時(shí)位置服務(wù)技術(shù)的發(fā)展現(xiàn)狀,闡述了多星座觀測(cè)網(wǎng)絡(luò)位置服務(wù)實(shí)現(xiàn)的可行性；根據(jù)當(dāng)前我國(guó)GNSS技術(shù)革新與產(chǎn)業(yè)升級(jí)的現(xiàn)實(shí)需求,論述了多星座CORS混合觀測(cè)網(wǎng)絡(luò)理論研究的現(xiàn)實(shí)意義；并進(jìn)一步概括了多星座觀測(cè)網(wǎng)位置服務(wù)相關(guān)技術(shù)現(xiàn)狀,及其在大型混合觀測(cè)網(wǎng)和海量用戶服務(wù)環(huán)境下的不足。在此基礎(chǔ)上,論文主體由GNSS觀測(cè)模型展開,詳細(xì)介紹了GNSS觀測(cè)方程及觀測(cè)值的線性組合；并基于GNSS相對(duì)定位幾何模型,提出了一種新的GNSS相對(duì)定位解算模型,該模型具有最小二乘解算過程中系數(shù)陣保持不變的特性,在多星座GNSS相對(duì)定位時(shí)的解算效率將明顯優(yōu)于傳統(tǒng)的一階泰勒展開式模型。圍繞雙差觀測(cè)中的空間距離相關(guān)誤差和非空間距離相關(guān)誤差,詳細(xì)描述了各項(xiàng)誤差的特性,并針對(duì)厘米級(jí)RTK定位需求介紹了相應(yīng)的處理方案。值得一提的是,雙差電離層的時(shí)空特性顯示,即使在低緯度地區(qū),夜間12點(diǎn)到次日8點(diǎn)期間電離層變化穩(wěn)定,對(duì)雙差觀測(cè)的影響在1IDU左右,可以忽略其對(duì)寬巷組合觀測(cè)的影響；根據(jù)這個(gè)特點(diǎn),有助于處理硬件延遲和多路徑延遲等與頻率相關(guān)的誤差。在觀測(cè)網(wǎng)絡(luò)的組網(wǎng)方面,針對(duì)多星座CORS混合觀測(cè)網(wǎng)內(nèi)各CORS站支持的GNSS星座存在差異,提出了按星座系統(tǒng)構(gòu)網(wǎng)解算和生成虛擬觀測(cè)值的思路,可有效避免各星座產(chǎn)生服務(wù)盲區(qū)；同時(shí),為快速添加參考站,改善區(qū)域RTK服務(wù)質(zhì)量,提出了基于GNSS觀測(cè)網(wǎng)現(xiàn)有空間誤差改正模型,快速解算新增站點(diǎn)精確坐標(biāo)的方法,可以與中央差分技術(shù)結(jié)合提高站點(diǎn)的坐標(biāo)解算效率；并提出了CORS網(wǎng)型結(jié)構(gòu)因子的概念,針對(duì)空間誤差改正,定量地描述參考站網(wǎng)絡(luò)的網(wǎng)形結(jié)構(gòu)對(duì)網(wǎng)絡(luò)RTK定位性能的影響,對(duì)于CORS網(wǎng)優(yōu)化和網(wǎng)絡(luò)RTK服務(wù)性能評(píng)價(jià)給出了理論和實(shí)用化的技術(shù)指標(biāo)。在網(wǎng)絡(luò)解算方面,提出了基于寬巷組合綜合誤差改正模型,快速確定寬巷模糊度的方法。針對(duì)CRTN、JDCORS和HKCORS分別代表的中緯度沿海地區(qū)、中緯度內(nèi)陸地區(qū)和低緯度地區(qū)進(jìn)行試驗(yàn)分析,結(jié)果顯示測(cè)試區(qū)域的寬巷組合綜合誤差的內(nèi)插精度優(yōu)于0.3周,只需少量測(cè)站即可滿足全網(wǎng)寬巷組合綜合誤差的內(nèi)插需要。采用該方法,GNSS混合觀測(cè)網(wǎng)中只需要考慮部分測(cè)站的偽距多路徑和GLONASS偽距頻問偏差影響,可以有效提高CORS網(wǎng)絡(luò)解算效率和可靠性,降低觀測(cè)網(wǎng)其他測(cè)站的偽距質(zhì)量要求,降低GNSS觀測(cè)網(wǎng)的建設(shè)成本。為適應(yīng)海量用戶需求,提出了虛擬單基站網(wǎng)絡(luò)的服務(wù)模式,可以與普通單基站應(yīng)用兼容。實(shí)驗(yàn)以站間距所引起的基線分量誤差小于1cm2為例,得到JDCORS和HKCORS兩個(gè)CORS網(wǎng)的虛擬單基站的站間距分別可以達(dá)到3公里(南北方向)、4公里(東西方向)和0.2公里(南北方向)、2公里(東西方向),從而只需構(gòu)建少量的虛擬單基站即可滿足服務(wù)需求。在CORS網(wǎng)位置服務(wù)性能檢測(cè)方面,結(jié)合時(shí)滯分析和形態(tài)學(xué)濾波提出了一種三差殘差預(yù)測(cè)方法,可監(jiān)測(cè)地表突變對(duì)CORS網(wǎng)位置服務(wù)坐標(biāo)框架的影響。利用2013年蘆山Ms7.0級(jí)地震期間四川省地震局GNSS觀測(cè)網(wǎng)的部分測(cè)站數(shù)據(jù)進(jìn)行模式實(shí)時(shí)監(jiān)測(cè),結(jié)果顯示該方法可以快速感知水平方向小于10mm、垂向方向小于20mm的測(cè)站突變。文章最后結(jié)合實(shí)際應(yīng)用分別介紹了課題組自主研發(fā)的“基站管理與服務(wù)系統(tǒng)”和多星座GNSS網(wǎng)絡(luò)RTK服務(wù)系統(tǒng)(VENUS)。相關(guān)實(shí)驗(yàn)表明,VENU S在GPS+GLONASS服務(wù)下與國(guó)際上同類的性能相當(dāng),但在聯(lián)合BDS的網(wǎng)絡(luò)RTK服務(wù)下,極大地提升了復(fù)雜環(huán)境下流動(dòng)站的固定率,同時(shí)實(shí)驗(yàn)也驗(yàn)證了BDS網(wǎng)絡(luò)RTK定位質(zhì)量與GPS相當(dāng)。
[Abstract]:With the deep research and application of GNSS technology in geophysics and geodetic measurement, various industries and regional CORS networks, represented by the China continental tectonic environment monitoring network and the provincial CORS, have been built in China, and the.CORS stations in most of our country have become an important part of the space data infrastructure. The research upsurge of the wide area centimetre real-time location service has been developed. However, because of the difference of the application targets, the CORS has different construction standards on the GNSS receiver equipment and the network communication environment, and the CORS network real-time service related applications represented by the network RTK application will not be mixed with the different CORS networks. In recent years, the Chinese Beidou satellite navigation In order to further improve the observation quality and location service capability of the COR S station, some CORS networks are or are preparing to upgrade the existing sites for BDS, and the other CORS networks are for construction costs and application purposes. The GPS/BDS/GLONASS Samsung system has more than 25 observable GNSS satellites in the Asia Pacific region. Considering, no or only part of the site has been upgraded. The difference between constellations can further increase the difficulty of the multi constellation CORS observation network. With the development of the Internet of things, support for the wide area, the more intense the demand for high precision location services for the mass users at the meter and centimeter level; < National Satellite guide? The medium and long term development plan of the aviation industry also clearly points out that by 2020, China's satellite navigation industry will be more than 400 billion yuan. By then, it will be difficult to meet the industrial demand by relying on the resources of a certain department alone. The integration of existing CORS resources has become the main subject of the current GNSS position service industry development. However, the actual application situation is not happy. First, there is still a lack of a scheme to effectively manage all CORS stations. Secondly, the existing network RTK service system is not ideal in the variety of receiver and antenna, and the performance of the complex observation network with complex communication and observation conditions is not ideal, and there are still shortcomings in the compatibility of BDS network RTK services. In order to adapt to the development of GNSS position service industry and strengthen the application of real-time location service of BDS/CORS network, this paper focuses on the GNSS observation model and error analysis involved in the real-time location service of the multi constellation CORS hybrid observation network, the networking and solving strategy of the mixed observation network, the performance monitoring of the VRS technology and the GNSS observation network position service. The key technology has been studied deeply, and some results have been obtained, which can provide theoretical reference for the application of multi constellation CORS hybrid observation network. Firstly, the feasibility of the implementation of the multi constellation network location service is expounded with the development status of the GNSS constellation system, the domestic CORS observation network and the real-time location service technology. The practical needs of GNSS technology innovation and industrial upgrading in our country, and the practical significance of the research on the theory of multi constellation CORS hybrid observation network are discussed, and the status of the location service related technology of the multi constellation observation network is further summarized, and the shortcomings of the large mixed observation network and mass user service ring are also summarized. On this basis, the main body of the paper is GN The SS observation model is carried out, and the linear combination of the GNSS observation equation and the observation value is introduced in detail. Based on the GNSS relative positioning geometric model, a new GNSS relative positioning solution model is proposed. The model has the constant characteristic of the coefficient matrix in the least square solution process, and the calculation efficiency will be obvious in the relative positioning of the multi constellation GNSS. Compared with the traditional first order Taylor expansion model, the spatial distance correlation error and the non spatial distance correlation error are described in detail, and the corresponding processing schemes are introduced for the centimeter level RTK positioning requirement. It is worth mentioning that the spatio-temporal characteristics of the double difference ionosphere display even at low latitudes. The ionosphere is stable during the period from 12 to 8 in the night, and the influence on the double difference observation is around 1IDU, and the influence on the combination observation of the wide lane can be ignored. According to this characteristic, it is helpful to deal with the errors related to the hardware delay and the multipath delay. In the networking of the observation network, the mixed observation of the multi constellation CORS There are differences in the GNSS constellations supported by the CORS stations in the network. The idea of solving and generating virtual observation values according to the constellation system is proposed, which can effectively avoid the blind area of each constellation. At the same time, to quickly add reference stations and improve the quality of regional RTK service, a new model based on the existing spatial error correction based on the GNSS network is proposed. The method of increasing the exact coordinates of the site can combine with the central difference technique to improve the efficiency of the coordinate calculation of the site. The concept of the CORS network structure factor is proposed. In view of the spatial error correction, the influence of the network structure of the reference station network on the positioning performance of the network RTK is quantitatively described, and the CORS network optimization and the performance evaluation of the network RTK service are evaluated. The theoretical and practical technical indexes are given. In the aspect of network calculation, a method based on the comprehensive error correction model of the wide lane combination is proposed to quickly determine the width of the wide alley. The experimental analysis is carried out for the mid latitude coastal areas, the mid latitudes inland areas and the low latitude regions, which are represented by CRTN, JDCORS and HKCORS respectively, and the results show the test area. The interpolation accuracy of integrated error of wide lane combination is better than 0.3 weeks. Only a small number of stations can meet the interpolation needs of the integrated error of wide roadway combination. In this method, the GNSS hybrid observation network only needs to consider the influence of the pseudo distance multipath and the GLONASS pseudo range frequency question, which can effectively improve the efficiency and reliability of the CORS network solution. In order to reduce the construction cost of the GNSS observation network and reduce the construction cost of the other stations in the observation network, the service mode of the virtual single base station network is proposed to meet the needs of the massive users. It can be compatible with the ordinary single base station application. The experiment takes the baseline error of the baseline distance of the station spacing less than 1cm2 as an example, and the two CORS networks of JDCORS and HKCORS are obtained. The station spacing of the virtual single base station can reach 3 km (North and South), 4 km (East and West) and 0.2 km (North and South) and 2 km (East and West), so only a small number of virtual single base stations can be built to meet the service requirements. A kind of time delay analysis and morphological filtering is proposed in the aspect of location service ability detection of CORS network. The three difference prediction method can monitor the influence of surface catastrophe on the coordinate frame of CORS network position service. Using the data of the GNSS observation network of Sichuan Seismological Bureau of Sichuan Province during the 2013 Lushan earthquake, the model can be monitored in real time. The result shows that the method can quickly perceive the station with the horizontal direction less than 10mm and the vertical direction less than 20mm. At the end of the paper, the paper introduces the "base station management and service system" and the multi constellation GNSS network RTK service system (VENUS), which are independently developed by the project group. The related experiments show that VENU S is equivalent to the same kind in the world under the GPS+GLONASS service, but it greatly improves the complexity under the network RTK service of the joint BDS. The fixed rate of mobile stations in the environment is also verified. The experiment also proves that the RTK positioning quality of BDS network is equivalent to that of GPS.
【學(xué)位授予單位】：西南交通大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2016
【分類號(hào)】：P228.4

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