顾及系统间偏差的BDS/GPS单钟差定位法
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摘要
在多系统定位中,因接收机硬件延迟难以与钟差分离,导致传统方法需要对每个系统考虑一个接收机钟差项,使得在遮挡环境下存在因卫星少参数多,导致定位结果不可靠的问题。针对这一不足,研究一种顾及系统间偏差的BDS/GPS双系统单钟差定位算法。在卫星数足够时利用传统方法估计系统间偏差参数,当卫星数过少时,将已获得的参数作为已知量,从而只估计一个钟差参数。采用Trimble NetR9与UBLOX M8T两种接收机数据对算法进行验证,以提高截止高度角的方式模拟遮挡环境。实验结果表明,相较于传统方法,当卫星数过少时,Trimble NetR9平面和高程分别提高118.8%(1.374 m)与41.3%(1.434 m),UBLOX M8T平面和高程分别提高9.5%(0.654 m)与242.9%(10.165 m),可更好地应用于导航领域。
The number of clock bias parameters with hardware delay(HD) must be equal to the number of satellite systems due to the impossibility to derive HD from clock bias in traditional standard point positioning(SPP). The problem that the result is unreliable may come due to the overparameterization when on sheltering environment. The paper proposes an algorithm in which only one clock bias parameter is involved if inter-system bias(ISB) is obtained. Firstly, two clock bias parameters are estimated by traditional SPP if there are enough satellites. Then ISB is obtained by two clock error parameters. Finally, only one clock bias parameter needs being estimated with aid of ISB. The performance of the algorithm is tested with BDS/GPS real observations of Trimble NetR9 and UBLOX M8T and the sheltering environment is simulated by raising the cutoff angle. With the comparison to traditional SPP, the result shows that the algorithm proposed improves the positioning accuracy by 118.8%(1.374 m) on horizontal and 41.38%(1.434 m) on vertical direction of Trimble NetR9. And the positioning accuracy is improved by 9.5%(0.654 m) on horizontal and 242.9%(10.165 m) on vertical direction of UBLOX M8T. The algorithm proposed may benefit the navigation.
The number of clock bias parameters with hardware delay(HD) must be equal to the number of satellite systems due to the impossibility to derive HD from clock bias in traditional standard point positioning(SPP). The problem that the result is unreliable may come due to the overparameterization when on sheltering environment. The paper proposes an algorithm in which only one clock bias parameter is involved if inter-system bias(ISB) is obtained. Firstly, two clock bias parameters are estimated by traditional SPP if there are enough satellites. Then ISB is obtained by two clock error parameters. Finally, only one clock bias parameter needs being estimated with aid of ISB. The performance of the algorithm is tested with BDS/GPS real observations of Trimble NetR9 and UBLOX M8T and the sheltering environment is simulated by raising the cutoff angle. With the comparison to traditional SPP, the result shows that the algorithm proposed improves the positioning accuracy by 118.8%(1.374 m) on horizontal and 41.38%(1.434 m) on vertical direction of Trimble NetR9. And the positioning accuracy is improved by 9.5%(0.654 m) on horizontal and 242.9%(10.165 m) on vertical direction of UBLOX M8T. The algorithm proposed may benefit the navigation.
引文
[1] 周泽波,沈云中,李博峰.双频GPS接收机单差硬件延迟分析[J].武汉大学学报(信息科学版),2009,34(6):724-727.
[2] 李征航,黄劲松.GPS测量与数据处理[M].武汉:武汉大学出版社,2016.
[3] GAO W,GAO C,PAN S,et al.Inter-System Differencing between GPS and BDS for Medium-Baseline RTK Positioning[J].Remote Sensing,2017,9(9):948.
[4] 袁运斌,欧吉坤.GPS观测数据中的仪器偏差对确定电离层延迟的影响及处理方法[J].测绘学报,1999,28(2):19-23.
[5] CHANG Q,ZHANG D,XIAO Z,et al.The estimation method of GPS instrumental biases [J].Chinese Science Bulletin,2001,46(3):204-207.
[6] 张小红,李征航,蔡昌盛.用双频GPS观测值建立小区域电离层延迟模型研究[J].武汉大学学报(信息科学版),2001,26(2):140-143.
[7] 吴显兵,徐天河.单站GPS接收机硬件延迟估计新算法[J].海洋测绘,2016,36(1):31-34.
[8] 吴晓莉,平劲松,刘利,等.区域卫星导航系统硬件延迟解算[J].武汉大学学报(信息科学版),2011,36(10):1218-1221.
[10] 舒宝,刘晖,张明,等.北斗系统硬件延迟解算及精度分析[J].武汉大学学报(信息科学版),2016,41(2):279-284.
[11] 隋心,邹鑫慈,徐爱功,等.GPS/BDS接收机端系统偏差实时估计方法[J].测绘科学,2016,41(12):106-109.
[12] 张辉,郝金明,田英国,等.BDS/GPS接收机系统间偏差稳定性分析[J].天文学报,2017,58(4):12-23.
[2] 李征航,黄劲松.GPS测量与数据处理[M].武汉:武汉大学出版社,2016.
[3] GAO W,GAO C,PAN S,et al.Inter-System Differencing between GPS and BDS for Medium-Baseline RTK Positioning[J].Remote Sensing,2017,9(9):948.
[4] 袁运斌,欧吉坤.GPS观测数据中的仪器偏差对确定电离层延迟的影响及处理方法[J].测绘学报,1999,28(2):19-23.
[5] CHANG Q,ZHANG D,XIAO Z,et al.The estimation method of GPS instrumental biases [J].Chinese Science Bulletin,2001,46(3):204-207.
[6] 张小红,李征航,蔡昌盛.用双频GPS观测值建立小区域电离层延迟模型研究[J].武汉大学学报(信息科学版),2001,26(2):140-143.
[7] 吴显兵,徐天河.单站GPS接收机硬件延迟估计新算法[J].海洋测绘,2016,36(1):31-34.
[8] 吴晓莉,平劲松,刘利,等.区域卫星导航系统硬件延迟解算[J].武汉大学学报(信息科学版),2011,36(10):1218-1221.
[10] 舒宝,刘晖,张明,等.北斗系统硬件延迟解算及精度分析[J].武汉大学学报(信息科学版),2016,41(2):279-284.
[11] 隋心,邹鑫慈,徐爱功,等.GPS/BDS接收机端系统偏差实时估计方法[J].测绘科学,2016,41(12):106-109.
[12] 张辉,郝金明,田英国,等.BDS/GPS接收机系统间偏差稳定性分析[J].天文学报,2017,58(4):12-23.