基于抗差方差分量的伪距/多普勒联合测速方法
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摘要
为充分利用单频全球导航卫星系统(GNSS)接收机的卫星观测数据,提出基于单频码伪距和多普勒两类不同精度的观测值,联合解算接收机速度的方法,同时为平衡不同精度观测值之间的权重比例,抑制不良观测值对平差模型的影响,采用抗差等价权与方差分量估计相结合的方式建立适配的平差随机模型。通过大量的实验数据解算表明,所提出的联合测速方法使得码伪距和多普勒观测值得到更为充分有效的利用,并且在一定程度上提升了平差结果的鲁棒性、无偏性以及有效性。
To make full use of satellite observation data from single-frequency GNSS receiver, one kind of method based on single-frequency code pseudo-range and Doppler two different precision observations is proposed to jointly calculate the receiver speed. At the same time, the combination of the different equivalence weights and the variance component estimation are utilized to formulate an appropriate adjustment stochastic model. In this way, the weight ratio of different precision observations is balanced and the interference of the bad observations is suppressed. A number of experimental data calculation show that the joint velocity measurement method makes the pseudo-range and Doppler observations more effectively, which improves the robustness, unbiasedness and effectiveness of the adjustment results to some extent.
To make full use of satellite observation data from single-frequency GNSS receiver, one kind of method based on single-frequency code pseudo-range and Doppler two different precision observations is proposed to jointly calculate the receiver speed. At the same time, the combination of the different equivalence weights and the variance component estimation are utilized to formulate an appropriate adjustment stochastic model. In this way, the weight ratio of different precision observations is balanced and the interference of the bad observations is suppressed. A number of experimental data calculation show that the joint velocity measurement method makes the pseudo-range and Doppler observations more effectively, which improves the robustness, unbiasedness and effectiveness of the adjustment results to some extent.
引文
[1] 王甫红,张小红,黄劲松.GPS单点测速的误差分析及精度评价[J].武汉大学学报(信息科学版),2007,32(6): 515- 519.WANG F H,ZHANG X H,HUANG J S. Error analysis and accuracy assessment of GPS absolute velocity determination with SA off[J]. Geomatics and Information Science of Wuhan University,2007,32(6): 515- 519.
[2] CANNON M E, LACHAPELLE G, SZARMES M C, et al. DGPS Kinematic carrier phase signal simulation analysis for precise velocity and position determination[J].Navigation, 1997,44(2):231- 245.
[3] 吴富梅.GNSS/INS组合导航误差补偿与自适应滤波理论的拓展[D].郑州:解放军信息工程大学,2010.WU F M. Expanding the GNSS/INS integrated navigation error compensation and adaptive filter theory[D].Zhengzhou: Information Engineering University,2010.
[4] 何海波,杨元喜,孙中苗.几种GPS测速方法的比较分析[J].测绘学报,2002,31(3):217- 221.HE H B,YANG Y X,SUN ZH M. A Comparison of several approaches for velocity determination with GPS[J]. Acta Geodaetica et Cartographica Sinica,2002,31(3):217- 221.
[5] 钟丽娜,刘建业,李荣冰,等.INS/SFGPS-PPP紧组合系统动态补偿滤波算法[J].仪器仪表学报,2016,37(6):1283-1289.ZHONG L N,LIU J Y,LI R B, et al.Dynamic compensation filter algorithm for INS/SFGPS-PPP tightly coupled system[J].Chinese Journal of Scientific Instrument, 2016,37(6):1283-1289.
[6] 裴晶,马颖,刘春.多项式拟合法在周跳探测中的研究与改进[J]. 电子测量与仪器学报,2017,31(11):1828-1834.PAN J,MA Y, LIU CH. Research and improvement of polynomial fitting method in cycle slip detection[J].Journal of Electronic Measurement and Instrumentation, 2017, 31(11): 1828-1834.
[7] 何海波,杨元喜,孙中苗,等.GPS多普勒频移测量速度模型与误差分析[J].测绘学院学报,2003, 20(2):79- 82.HE H B,YANG Y X,SUN ZH M,et al. Mathematic model and error analyses for velocity determination using GPS Doppler measurements[J].Journal of Institute of Surveying and Mapping,2003,20(2):79- 82.
[8] JING SH R, XU B, YONG L, et al. Doppler-aided rapid positioning method for BDS receivers[J]. Electronics Letters, 2015, 51(25):2139- 2141.
[9] ZHOU Z, LI B. Optimal Doppler-aided smoothing strategy for GNSS navigation[J]. GPS Solutions, 2017, 21(1):197- 210.
[10] BAHRAMI M, ZIEBART M. Instantaneous Doppler-aided RTK positioning with single frequency receivers[C].Position Location and Navigation Symposium,2010:70-78.
[11] 何海波.高精度GPS动态测量及质量控制[D].郑州:解放军信息工程大学,2002.HE H B. High-precision GPS dynamic measurement and quality control[D].Zhengzhou: Information Engineering University, 2002.
[12] 郑南山,李增科.多普勒平滑伪距在GPS/INS紧耦合导航中的应用[J].武汉大学学报(信息科学版),2014, 39(10): 1158-1162.ZHENG N SH,LI Z K. Application of Doppler smoothing pseudo-range in GPS/INS tightly-coupled navigation[J]. Geomatics and Information Science of Wuhan University, 2014,39(10):1158-1162.
[13] 沈飞,李荣冰,刘建业,等.基于卡尔曼滤波的北斗接收机高灵敏度跟踪算法研究[J].电子测量技术,2017,40(9):88-94.SHEN F,LI R B,LIU J Y, et al. Research on the techniques for tracking algorithm of BD2 with high sensitivity based on Kalman filter[J].Electronic Measurement Technology, 2017, 40(9): 88-94.
[14] 刘长建,张建军,马高峰.方差分量估计的新思考[C].河南省第四届青年学术年会,2004:23- 27.LIU CH J,ZHANG J J,MA G F. New thinking on variance component estimation[C].The Fourth Annual Youth Academic Conference of Henan Province, 2004:23- 27.
[15] 夏春林.误差理论与测量平差[M].北京:清华大学出版社,2015.XIA CH L. Error Theory and Measurement Adjustment[M]. Beijing: Tsinghua University Press, 2015.
[16] 刘成,李芳.不同卫星定位加权方法的比较与分析[J].测绘科学,2018,43(8):39- 44.LIU CH,LI F. Comparison and analysis of different GNSS weighting methods[J].Science of Surveying and Mapping,2018,43(8):39- 44.
[17] 王鼎杰,孟德利,李朝阳,等.抗野值自适应卫星/微惯性组合导航方法[J].仪器仪表学报,2017,38(12):2952- 2958.WANG D J,MENG D L,LI CH Y, et al. Adaptively outlier-restrained GNSS/MEMS-INS integrated navigation method[J].Chinese Journal of Scientific Instrument,2017, 38(12):2952- 2958.
[18] 杨元喜.自适应动态导航定位[M].北京:测绘出版社,2017.YANG Y X. Adaptive Dynamic Navigation and Positioning [M]. Beijing: Surveying and Mapping Press, 2017.
[2] CANNON M E, LACHAPELLE G, SZARMES M C, et al. DGPS Kinematic carrier phase signal simulation analysis for precise velocity and position determination[J].Navigation, 1997,44(2):231- 245.
[3] 吴富梅.GNSS/INS组合导航误差补偿与自适应滤波理论的拓展[D].郑州:解放军信息工程大学,2010.WU F M. Expanding the GNSS/INS integrated navigation error compensation and adaptive filter theory[D].Zhengzhou: Information Engineering University,2010.
[4] 何海波,杨元喜,孙中苗.几种GPS测速方法的比较分析[J].测绘学报,2002,31(3):217- 221.HE H B,YANG Y X,SUN ZH M. A Comparison of several approaches for velocity determination with GPS[J]. Acta Geodaetica et Cartographica Sinica,2002,31(3):217- 221.
[5] 钟丽娜,刘建业,李荣冰,等.INS/SFGPS-PPP紧组合系统动态补偿滤波算法[J].仪器仪表学报,2016,37(6):1283-1289.ZHONG L N,LIU J Y,LI R B, et al.Dynamic compensation filter algorithm for INS/SFGPS-PPP tightly coupled system[J].Chinese Journal of Scientific Instrument, 2016,37(6):1283-1289.
[6] 裴晶,马颖,刘春.多项式拟合法在周跳探测中的研究与改进[J]. 电子测量与仪器学报,2017,31(11):1828-1834.PAN J,MA Y, LIU CH. Research and improvement of polynomial fitting method in cycle slip detection[J].Journal of Electronic Measurement and Instrumentation, 2017, 31(11): 1828-1834.
[7] 何海波,杨元喜,孙中苗,等.GPS多普勒频移测量速度模型与误差分析[J].测绘学院学报,2003, 20(2):79- 82.HE H B,YANG Y X,SUN ZH M,et al. Mathematic model and error analyses for velocity determination using GPS Doppler measurements[J].Journal of Institute of Surveying and Mapping,2003,20(2):79- 82.
[8] JING SH R, XU B, YONG L, et al. Doppler-aided rapid positioning method for BDS receivers[J]. Electronics Letters, 2015, 51(25):2139- 2141.
[9] ZHOU Z, LI B. Optimal Doppler-aided smoothing strategy for GNSS navigation[J]. GPS Solutions, 2017, 21(1):197- 210.
[10] BAHRAMI M, ZIEBART M. Instantaneous Doppler-aided RTK positioning with single frequency receivers[C].Position Location and Navigation Symposium,2010:70-78.
[11] 何海波.高精度GPS动态测量及质量控制[D].郑州:解放军信息工程大学,2002.HE H B. High-precision GPS dynamic measurement and quality control[D].Zhengzhou: Information Engineering University, 2002.
[12] 郑南山,李增科.多普勒平滑伪距在GPS/INS紧耦合导航中的应用[J].武汉大学学报(信息科学版),2014, 39(10): 1158-1162.ZHENG N SH,LI Z K. Application of Doppler smoothing pseudo-range in GPS/INS tightly-coupled navigation[J]. Geomatics and Information Science of Wuhan University, 2014,39(10):1158-1162.
[13] 沈飞,李荣冰,刘建业,等.基于卡尔曼滤波的北斗接收机高灵敏度跟踪算法研究[J].电子测量技术,2017,40(9):88-94.SHEN F,LI R B,LIU J Y, et al. Research on the techniques for tracking algorithm of BD2 with high sensitivity based on Kalman filter[J].Electronic Measurement Technology, 2017, 40(9): 88-94.
[14] 刘长建,张建军,马高峰.方差分量估计的新思考[C].河南省第四届青年学术年会,2004:23- 27.LIU CH J,ZHANG J J,MA G F. New thinking on variance component estimation[C].The Fourth Annual Youth Academic Conference of Henan Province, 2004:23- 27.
[15] 夏春林.误差理论与测量平差[M].北京:清华大学出版社,2015.XIA CH L. Error Theory and Measurement Adjustment[M]. Beijing: Tsinghua University Press, 2015.
[16] 刘成,李芳.不同卫星定位加权方法的比较与分析[J].测绘科学,2018,43(8):39- 44.LIU CH,LI F. Comparison and analysis of different GNSS weighting methods[J].Science of Surveying and Mapping,2018,43(8):39- 44.
[17] 王鼎杰,孟德利,李朝阳,等.抗野值自适应卫星/微惯性组合导航方法[J].仪器仪表学报,2017,38(12):2952- 2958.WANG D J,MENG D L,LI CH Y, et al. Adaptively outlier-restrained GNSS/MEMS-INS integrated navigation method[J].Chinese Journal of Scientific Instrument,2017, 38(12):2952- 2958.
[18] 杨元喜.自适应动态导航定位[M].北京:测绘出版社,2017.YANG Y X. Adaptive Dynamic Navigation and Positioning [M]. Beijing: Surveying and Mapping Press, 2017.