相位平滑伪距辅助GNSS三频非差数据实时周跳探测与修复
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摘要
针对目前几乎所有三频周跳探测与修复方法都会受到伪距噪声和多路径效应影响的问题,提出了采用相位平滑伪距方法来辅助三频周跳探测与修复.采用GPS/QZSS和BDS实测三频数据对该方法进行了验证.结果表明:该方法可大幅削弱伪距噪声和多路径效应对周跳修复的影响,提高周跳确定成功率.经过相位平滑伪距后,周跳浮点值与真值之间的均方根(RMS)误差,对于GPS/QZSS三个频点L1,L2,L5平均分别降低40.389%、40.758%和40.023%,对于BDS三个频点B1,B2,B3平均分别降低12.083%、14.290%和18.781%.
The performances of all current cycle slip detection and repair(CDR) algorithms would be affected by the pseudo-range noise and multipath effects. A carrier-phase smoothing of pseudo-range(CPSP) method was used to aid the triple-frequency cycle slip detection and repair. The performance of the method was verified with GPS/QZSS and BDS triple-frequency observations. The results show that the influence of pseudo-range observation noise and its multi-path effects on the CDR is reduced and the success rate of CDR is improved. Using the CPSP approach, the differences of the root mean square(RMS) between float and true integer values are decreased by 40.389%, 40.758% and 40.023% averagely at L1, L2, L5, respectively for GPS/QZSS; and 12.083%, 14.290% and 18.781% averagely at B1, B2, B3, respectively for BDS.
The performances of all current cycle slip detection and repair(CDR) algorithms would be affected by the pseudo-range noise and multipath effects. A carrier-phase smoothing of pseudo-range(CPSP) method was used to aid the triple-frequency cycle slip detection and repair. The performance of the method was verified with GPS/QZSS and BDS triple-frequency observations. The results show that the influence of pseudo-range observation noise and its multi-path effects on the CDR is reduced and the success rate of CDR is improved. Using the CPSP approach, the differences of the root mean square(RMS) between float and true integer values are decreased by 40.389%, 40.758% and 40.023% averagely at L1, L2, L5, respectively for GPS/QZSS; and 12.083%, 14.290% and 18.781% averagely at B1, B2, B3, respectively for BDS.
引文
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[11] 姚一飞,高井祥,王坚,等.北斗三频载波观测值的周跳实时探测与修复[J].中国矿业大学学报,2014,43(6):1140-1148.DOI:10.13247/j.cnki.jcumt.000242.Yao Y F,Gao J X,Wang J,et al.Real-time cycle-slip detection and repair for compass triple-frequency carrier phase observations[J].Journal of China University of Mining & Technology,2014,43(6):1140-1148.DOI:10.13247/j.cnki.jcumt.000242.(in Chinese)
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[16] 黄令勇,翟国君,欧阳永忠,等.三频GNSS电离层周跳处理[J].测绘学报,2015,44(7):717-725.Huang L Y,Zhai G J,Ouyang Y Z,et al.Ionospheric cycle slip processing in triple-frequency GNSS[J].Acta Geodaetica et Cartographica Sinica,2015,44(7):717-725.(in Chinese)
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[18] Meng L D,Chen J P,Wang J X,et al.Real-time detection and repair of cycle-slip based on pseudo-range phase combinations for un-differenced gnss triple-frequency observations[C]//China Satellite Navigation Conference (CSNC).Singapore:Springer Singapore.2018:701-715.DOI:10.1007/978-981-13-0014-1_57.
[19] 王兴,刘文祥,李柏渝,等.BDS 三频非差观测数据周跳探测与修复方法[J].国防科技大学学报,2016,38(3):12-18.DOI:10.11887/j.cn.201603003.Wang X,Liu W X,Li B Y,et al.Detection and repair of cycle slips for undifferenced BDS triple-frequency observations[J].Journal of National University of Defense Technology,2016,38(3):12-18.DOI:10.11887/j.cn.201603003.(in Chinese)
[20] Li B,Qin Y,Li Z,et al.Undifferenced cycle slip estimation of triple-frequency beidou signals with ionosphere prediction[J].Marine Geodesy,Taylor & Francis,2016,39(5):348-365.
[21] Xiao G,Mayer M,Heck B,et al.Improved time-differenced cycle slip detect and repair for GNSS undifferenced observations[J].GPS Solutions,2018,22:6.DOI:10.1007/s10291-017-0677-7.
[22] Li B ,Qin Y ,Liu T.Geometry-based cycle slip and data gap repair for multi-GNSS and multi-frequency observations[J].Journal of Geodesy,2019,93(3):399-417.DOI:10.1007/s00190-018-1168-5.
[23] Subirana J S,Zornoza J M J,Hernandez-Pajares M.GNSS data processing volume Ⅰ:Fundamentals and algorithms[M].Netherlands:ESA Communications,2013:79-84.
[24] 张益泽.北斗实时高精度定位服务系统研究[J].测绘学报,2018,47(9):1293.Zhang Y Z.Research on real-time high precision Beidou positioning service system[J].Acta Geodaetica et Cartographica Sinica,2018,47(9):1293.(in Chinese)
[25] Hatch R.The synergism of GPS code and carrier measurements[C]//Proc 3rd International Geodetic Symposium on Satellite Doppler Positioning.Las Cruces,New Mexico,USA,1982,2:1213-1232.
[26] 杨元喜,李金龙,王爱兵,等.北斗区域卫星导航系统基本导航定位性能初步评估[J].中国科学:地球科学,2014,44(1):72-81.Yang Y X,Li J L,Wang A B,et al.Preliminary assessment of the navigation and positioning performance of Beidou regional navigation satellite system[J].Scientia Sinica(Terrae),2014,44(1):72-81.(in Chinese)
[27] Teunissen P J G.Success probability of integer GPS ambiguity rounding and bootstrapping[J].Journal of Geodesy,1998,72(10):606-612.DOI:10.1007/s001900050199.
[28] 常志巧,胡小工,郭睿,等.CNMC与Hatch滤波方法比较及其在北斗相对定位中的精度分析[J].中国科学:物理学力学天文学,2015,45(7):53-61.DOI:10.1360/SSPMA2015-00144.Chang Z Q,Hu X G,Guo R,et al.Comparison between CNMC and hatch filter & its precision analysis for BDS precise relative positioning[J].Scientia Sinica(Physica,Mechanica & Astronomica),2015,45(7):53-61.DOI:10.1360/SSPMA2015-00144.(in Chinese)
[29] Wu X L,Zhou J H,Wang G,et al.Multipath error detection and correction for GEO/IGSO satellites[J].Science China Physics,Mechanics and Astronomy,2012,55(7):1297-1306.DOI:10.1007/s11433-012-4741-6.
[30] 刘柳,吕志伟,于晓东,等.GNSS三频周跳探测与修复算法[J].测绘学报,2017,46(4):453-459.DOI:10.11947/j.AGCS.2017.20160532.Liu L,Lü Z W,Yu X D,et al.Real-time cycle-slip detection and repair algorithm of GNSS triple-frequency observations[J].Acta Geodaetica et Cartographica Sinica,2017,46(4):453-459.DOI:10.11947/j.AGCS.2017.20160532.(in Chinese)
[2] Hofmann-Wellenhof B,Lichtenegger H,Collins J.Global positioning system[M].Vienna:Springer Vienna,2001:182-190 .
[3] Wang Y K,Li K Z,Zhao L J ,et al.A new modified method for cycle-slips detection based on polynomial fitting method[C]//China Satellite Navigation Conference (CSNC).Singapore:Springer Singapore.2016:135-143.DOI:10.1007/978-981-10-0934-1-13.
[4] Chang G B,Xu T H,Yao Y F,et al.Adaptive Kalman filter based on variance component estimation for the prediction of ionospheric delay in aiding the cycle slip repair of GNSS triple-frequency signals[J].Journal of Geodesy,2018,92(11):1241-1253.DOI:10.1007/s00190-018-1116-4.
[5] 王成,王解先.单频非差相位观测值的周跳探测与修复方法[J].同济大学学报(自然科学版),2012,40(9):1393-1398.DOI:10.3969/j.issn.0253-374x.2012.09.020.Wang C,Wang J X.Cycle slip detection and correction of single-frequency un-differenced phase observation[J].Journal of Tongji University(Natural Science),2012,40(9):1393-1398.DOI:10.3969/j.issn.0253-374x.2012.09.020.(in Chinese)
[6] 刘宁,熊永良,徐韶光.利用改进的TurboEdit算法与Chebyshev多项式探测与修复周跳[J].武汉大学学报(信息科学版),2011,36(12):1500-1503.DOI:10.13203/j.whugis2011.12.024.Liu N,Xiong Y L,Xu S G.Detection and repair of cycle slips using improved TurboEdit algorithm and chebyshev polynomial method[J].Geomatics and Information Science of Wuhan University,2011,36(12):1500-1503.DOI:10.13203/j.whugis2011.12.024.(in Chinese)
[7] Blewitt G.An automatic editing algorithm for GPS data[J].Geophysical Research Letters,1990,17(3):199-202.DOI:10.1029/gl017i003p00199.
[8] Feng Y M.GNSS three carrier ambiguity resolution using ionosphere-reduced virtual signals[J].Journal of Geodesy,2008,82(12):847-862.DOI:10.1007/s00190-008-0209-x.
[9] 黄令勇,翟国君,欧阳永忠,等.削弱电离层影响的三频TurboEdit周跳处理方法[J].测绘学报,2015,44(8):840-847,883.DOI:10.11947/j.AGCS.2015.20140380.Huang L Y,Zhai G J,Ouyang Y Z,et al.Triple-frequency TurboEdit cycle-slip processing method of weakening ionospheric activity[J].Acta Geodaetica et Cartographica Sinica,2015,44(8):840-847,883.DOI:10.11947/j.AGCS.2015.20140380.(in Chinese)
[10] Dai Z,Knedlik S,Loffeld O.Real-time cycle-slip detection and determination for multiple frequency GNSS[C]//2008 5th Workshop on Positioning,Navigation and Communication.Hannover,Germany,2008:37-43.DOI:10.1109/WPNC.2008.4510355.
[11] 姚一飞,高井祥,王坚,等.北斗三频载波观测值的周跳实时探测与修复[J].中国矿业大学学报,2014,43(6):1140-1148.DOI:10.13247/j.cnki.jcumt.000242.Yao Y F,Gao J X,Wang J,et al.Real-time cycle-slip detection and repair for compass triple-frequency carrier phase observations[J].Journal of China University of Mining & Technology,2014,43(6):1140-1148.DOI:10.13247/j.cnki.jcumt.000242.(in Chinese)
[12] Tian Y,Zhang L X,Xu Q B.A novel triple-frequency cycle slip detection and correction method for BDS[M]// Lecture Notes in Electrical Engineering.Singapore:Springer,2018:441-453.DOI:10.1007/978-981-13-0014-1_37.
[13] Zeng T,Sui L,Xu Y,et al.Real-time triple-frequency cycle slip detection and repair method under ionospheric disturbance validated with BDS data[J].GPS Solutions,2018,22(3):62-75.
[14] Liu W,Jin X,Wu M,et al.A new real-time cycle slip detection and repair method under high ionospheric activity for a triple-frequency GPS/BDS receiver[J].Sensors,2018,18(2):427-448.
[15] 李金龙,杨元喜,徐君毅,等.基于伪距相位组合实时探测与修复GNSS三频非差观测数据周跳[J].测绘学报,2011,40(6):717-722,729.Li J L,Yang Y X,Xu J Y,et al.Real-time cycle-slip detection and repair based on code-phase combinations for GNSS triple-frequency un-differenced observations[J].Acta Geodaetica et Cartographica Sinica,2011,40(6):717-722,729.(in Chinese)
[16] 黄令勇,翟国君,欧阳永忠,等.三频GNSS电离层周跳处理[J].测绘学报,2015,44(7):717-725.Huang L Y,Zhai G J,Ouyang Y Z,et al.Ionospheric cycle slip processing in triple-frequency GNSS[J].Acta Geodaetica et Cartographica Sinica,2015,44(7):717-725.(in Chinese)
[17] Zhao Q L,Sun B Z,Dai Z Q,et al.Real-time detection and repair of cycle slips in triple-frequency GNSS measurements[J].GPS Solutions,2015,19(3):381-391.DOI:10.1007/s10291-014-0396-2.
[18] Meng L D,Chen J P,Wang J X,et al.Real-time detection and repair of cycle-slip based on pseudo-range phase combinations for un-differenced gnss triple-frequency observations[C]//China Satellite Navigation Conference (CSNC).Singapore:Springer Singapore.2018:701-715.DOI:10.1007/978-981-13-0014-1_57.
[19] 王兴,刘文祥,李柏渝,等.BDS 三频非差观测数据周跳探测与修复方法[J].国防科技大学学报,2016,38(3):12-18.DOI:10.11887/j.cn.201603003.Wang X,Liu W X,Li B Y,et al.Detection and repair of cycle slips for undifferenced BDS triple-frequency observations[J].Journal of National University of Defense Technology,2016,38(3):12-18.DOI:10.11887/j.cn.201603003.(in Chinese)
[20] Li B,Qin Y,Li Z,et al.Undifferenced cycle slip estimation of triple-frequency beidou signals with ionosphere prediction[J].Marine Geodesy,Taylor & Francis,2016,39(5):348-365.
[21] Xiao G,Mayer M,Heck B,et al.Improved time-differenced cycle slip detect and repair for GNSS undifferenced observations[J].GPS Solutions,2018,22:6.DOI:10.1007/s10291-017-0677-7.
[22] Li B ,Qin Y ,Liu T.Geometry-based cycle slip and data gap repair for multi-GNSS and multi-frequency observations[J].Journal of Geodesy,2019,93(3):399-417.DOI:10.1007/s00190-018-1168-5.
[23] Subirana J S,Zornoza J M J,Hernandez-Pajares M.GNSS data processing volume Ⅰ:Fundamentals and algorithms[M].Netherlands:ESA Communications,2013:79-84.
[24] 张益泽.北斗实时高精度定位服务系统研究[J].测绘学报,2018,47(9):1293.Zhang Y Z.Research on real-time high precision Beidou positioning service system[J].Acta Geodaetica et Cartographica Sinica,2018,47(9):1293.(in Chinese)
[25] Hatch R.The synergism of GPS code and carrier measurements[C]//Proc 3rd International Geodetic Symposium on Satellite Doppler Positioning.Las Cruces,New Mexico,USA,1982,2:1213-1232.
[26] 杨元喜,李金龙,王爱兵,等.北斗区域卫星导航系统基本导航定位性能初步评估[J].中国科学:地球科学,2014,44(1):72-81.Yang Y X,Li J L,Wang A B,et al.Preliminary assessment of the navigation and positioning performance of Beidou regional navigation satellite system[J].Scientia Sinica(Terrae),2014,44(1):72-81.(in Chinese)
[27] Teunissen P J G.Success probability of integer GPS ambiguity rounding and bootstrapping[J].Journal of Geodesy,1998,72(10):606-612.DOI:10.1007/s001900050199.
[28] 常志巧,胡小工,郭睿,等.CNMC与Hatch滤波方法比较及其在北斗相对定位中的精度分析[J].中国科学:物理学力学天文学,2015,45(7):53-61.DOI:10.1360/SSPMA2015-00144.Chang Z Q,Hu X G,Guo R,et al.Comparison between CNMC and hatch filter & its precision analysis for BDS precise relative positioning[J].Scientia Sinica(Physica,Mechanica & Astronomica),2015,45(7):53-61.DOI:10.1360/SSPMA2015-00144.(in Chinese)
[29] Wu X L,Zhou J H,Wang G,et al.Multipath error detection and correction for GEO/IGSO satellites[J].Science China Physics,Mechanics and Astronomy,2012,55(7):1297-1306.DOI:10.1007/s11433-012-4741-6.
[30] 刘柳,吕志伟,于晓东,等.GNSS三频周跳探测与修复算法[J].测绘学报,2017,46(4):453-459.DOI:10.11947/j.AGCS.2017.20160532.Liu L,Lü Z W,Yu X D,et al.Real-time cycle-slip detection and repair algorithm of GNSS triple-frequency observations[J].Acta Geodaetica et Cartographica Sinica,2017,46(4):453-459.DOI:10.11947/j.AGCS.2017.20160532.(in Chinese)