联合GEO/IGSO/MEO的北斗PPP模糊度固定方法与试验分析
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摘要
由于北斗地球静止轨道(geostationary earth orbiting,GEO)卫星轨道精度较低且其观测值受多路径误差和伪距偏差影响严重,目前各分析中心尚未针对北斗GEO卫星提供长期稳定的相位小数偏差(uncalibrated phase delay,UPD)产品,北斗精密单点定位(precise point positioning,PPP)模糊度固定技术研究主要针对倾斜轨道(inclined geosynchronous orbiting,IGSO)和中地球轨道(medium earth orbiting,MEO)卫星。本文采用Wanninger和Beer的高度角模型消除了IGSO/MEO观测值伪距偏差,并通过小波变换提取低频分量修正伪距观测值的方法削弱了GEO卫星多路径和伪距偏差的影响。由于窄巷UPD估值受未模型化误差影响较大,本文改进了窄巷UPD估计的策略,该策略利用上一历元成功估计的窄巷UPD对当前历元的浮点模糊度进行改正,剔除了残差较大的浮点模糊度,修正固定错误的整周模糊度,从而提高了窄巷UPD的精度和稳定性。利用估计得到的UPD产品,本文实现了联合GEO、IGSO和MEO卫星的北斗非差PPP模糊度固定,并对其定位性能进行分析。结果表明:联合GEO、IGSO和MEO卫星的PPP固定解的首次固定时间和收敛时间均可以缩短到30 min以内;6 h后的E、N、U方向的定位误差由(1.35、0.35、2.75)cm减少到(1.07、0.26、2.24)cm,分别减少了20%、27%和18%。
Since the precision of GEO satellite orbit is low and the observations of GEO are affected seriously by the multipath and code bias,now no analysis center in the world provide the uncalibrated phase delay(UPD)products of BeiDou Satellite Navigation System(BDS)GEO satellites.At present,the BDS precise point positioning(PPP)ambiguity resolution(AR)for global users still limits on the IGSO and MEO satellites.In our study,we eliminated the code bias of IGSO\MEO satellite by using the elevationdependent model proposed by the Wanninger and Beer and the code bias of GEO satellite was corrected by the wavelet transform.We also improve the method of NL UPD estimation by applying accurate UPDs estimated in last epoch to select the correct ambiguities at current epoch.Once we obtain the high-quality UPD products,the BDS PPP ambiguity resolution with GEO\IGSO\MEO satellites is achieved and then the performance of the PPP AR results is evaluated.Results show that:The convergence time and the time to first fix are both less than 30 min for BDS PPP ambiguity resolution with GEO\IGSO\MEO satellites.The positioning error based on six-hour observations for East,North and UP direction are reduced by20%,27%and18%(from1.35,0.35 and2.75 cm to1.07,0.26,and2.24 cm).
Since the precision of GEO satellite orbit is low and the observations of GEO are affected seriously by the multipath and code bias,now no analysis center in the world provide the uncalibrated phase delay(UPD)products of BeiDou Satellite Navigation System(BDS)GEO satellites.At present,the BDS precise point positioning(PPP)ambiguity resolution(AR)for global users still limits on the IGSO and MEO satellites.In our study,we eliminated the code bias of IGSO\MEO satellite by using the elevationdependent model proposed by the Wanninger and Beer and the code bias of GEO satellite was corrected by the wavelet transform.We also improve the method of NL UPD estimation by applying accurate UPDs estimated in last epoch to select the correct ambiguities at current epoch.Once we obtain the high-quality UPD products,the BDS PPP ambiguity resolution with GEO\IGSO\MEO satellites is achieved and then the performance of the PPP AR results is evaluated.Results show that:The convergence time and the time to first fix are both less than 30 min for BDS PPP ambiguity resolution with GEO\IGSO\MEO satellites.The positioning error based on six-hour observations for East,North and UP direction are reduced by20%,27%and18%(from1.35,0.35 and2.75 cm to1.07,0.26,and2.24 cm).
引文
[1]李星星.GNSS精密单点定位及非差模糊度快速确定方法研究[D].武汉:武汉大学,2013.LI Xingxing.Rapid Ambiguity Resolution in GNSS Precise Point Positioning[D].Wuhan:Wuhan University,2013.
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[4]GENG Jianghui,TEFERLE F N,SHI Changhong,et al.Ambiguity Resolution in Precise Point Positioning with Hourly Data[J].GPS Solutions,2009,13(4):263-270.
[5]杨元喜.北斗卫星导航系统的进展、贡献与挑战[J].测绘学报,2010,39(1):1-6.YANG Yuanxi.Progress,Contribution and Challenges of Compass/Beidou Satellite Navigation System[J].Acta Geodaetica et Cartographica Sinica,2010,39(1):1-6.
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[7]PERELLO GISBERT J V,BATZILIS N,RISUEO G L,et al.GNSS Payload and Signal Characterization Using a3m Dish Antenna[C]∥Proceedings of the 25th International Technical Meeting of The Satellite Division of the Institute of Navigation.Nashville,TN:ION GNSS,2012:347-356.
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[10]WANNINGER L,BEER S.BeiDou Satellite-induced Code Pseudorange Variations:Diagnosis and Therapy[J].GPS Solutions,2015,19(4):639-648.
[11]LI Jinlong,YANG Yuanxi,XU Junyi,et al.GNSS MultiCarrier Fast Partial Ambiguity Resolution Strategy Tested with Real BDS/GPS Dual-and Triple-frequency Observations[J].GPS Solutions,2015,19(1):5-13.
[12]WANG Min,CHAI Hongzhou,LI Yu.Performance Analysis of BDS/GPS Precise Point Positioning with Undifferenced Ambiguity Resolution[J].Advances in Space Research,2017,60(12):2581-2595.
[13]LIU Yanyan,YE Shirong,SONG Weiwei,et al.Integrating GPS and BDS to Shorten the Initialization Time for AmbiguityFixed PPP[J].GPS Solutions,2017,21(2):333-343.
[14]雍雯.北斗高精度定位模糊度解算方法研究[D].南京:东南大学,2014.YONG Wen.Research on Approach of Beidou High Precision Positioning Ambiguity Resolution[D].Nanjing:Southeast University,2014.
[15]LI Pan,ZHANG Xiaohong,GUO Fei.Ambiguity Resolved Precise Point Positioning with GPS and BeiDou[J].Journal of Geodesy,2017,91(9):25-40.
[16]ANTONINI M,BARLAUD M,MATHIEU P,et al.Image Coding Using Wavelet Transform[J].IEEE Transactions on Image Processing,1992,1(2):205-220.
[17]王广兴.北斗观测值特性分析及其在PPP模糊度固定应用中的研究[D].武汉:武汉大学,2016.WANG Guangxing.On the Analysis of Beidou Observations’Characteristics and Its Application in PPP Integer Ambiguity Resolution[D].Wuhan:Wuhan University,2016.
[18]张小红,李盼,李星星,等.宽巷载波相位模糊度小数偏差时变特性分析[J].测绘学报,2013,42(6):798-803,809.ZHANG Xiaohong,LI Pan,LI Xingxing,et al.An Analysis of Time-varying Property of Widelane Carrier Phase Ambiguity Fractional Bias[J].Acta Geodaetica et Cartographica Sinica,2013,42(6):798-803,809.
[19]MELBOURNE W G.The Case for Ranging in GPS-Based Geodetic Systems[C]∥Proceedings of the first International Symposium on Precise Positioning with Global Positioning System.Rockville,MD:International Symposium on Precise Positioning,1985:373-386.
[20]WBBENA G.Software Developm ents for Geodetic Positioning with GPS Using TI-4100 Code and Carrier Measurements[C]∥Proceedings of the First International Symposium on Precise Positioning with the Global Positioning System.Rockville,MD:International Symposium on Precise Positioning,1985:403-412.
[21]LI Pan,ZHANG Xiaohong,REN Xiaodong,et al.Generating GPS Satellite Fractional Cycle Bias for Ambiguity-fixed Precise Point Positioning[J].GPS Solutions,2016,20(4):771-782.
[22]LI Xingxing,GE Maorong,ZHANG Hongping,et al.A Method for Improving Uncalibrated Phase Delay Estimation and Ambiguity-fixing in Real-time Precise Point Positioning[J].Journal of Geodesy,2013,87(5):405-416.
[23]LI Xingxing,ZHANG Xiaohong.Improving the Estimation of Uncalibrated Fractional Phase Offsets for PPP Ambiguity Resolution[J].Journal of Navigation,2012,65(3):513-529.
[24]TEU NISSEN P J G.The Least-squares A m biguity Decorrelation Adjustment:a Method for Fast GPS Integer Ambiguity Estimation[J].Journal of Geodesy,1995,70(1-2):65-82.
[2]GE Maorong,GENDT G,ROTHACHER M,et al.Resolution of GPS Carrier-phase Ambiguities in Precise Point Positioning(PPP)with Daily Observations[J].Journal of Geodesy,2008,82(7):389-399.
[3]COLLINS P,LAHAYE F,HROUX P,et al.Precise Point Positioning with Ambiguity Resolution Using the Decoupled Clock Model[C]//Proceedings of ION GNSS21st International Technical Meeting of the Satellite Division.Savannah,GA:ION GNSS,2008:1315-1322.
[4]GENG Jianghui,TEFERLE F N,SHI Changhong,et al.Ambiguity Resolution in Precise Point Positioning with Hourly Data[J].GPS Solutions,2009,13(4):263-270.
[5]杨元喜.北斗卫星导航系统的进展、贡献与挑战[J].测绘学报,2010,39(1):1-6.YANG Yuanxi.Progress,Contribution and Challenges of Compass/Beidou Satellite Navigation System[J].Acta Geodaetica et Cartographica Sinica,2010,39(1):1-6.
[6]MONTENBRUCK O,HAUSCHILD A,STEIGENBERGER P,et al.A COMPASS for Asia:First Experience with the BeiDou-2 Regional Navigation System[C]∥IGS Workshop.Olsztyn:IGS,2012.http:∥www.igs.org/presents/poland2012/posters.Accessed10July2014.
[7]PERELLO GISBERT J V,BATZILIS N,RISUEO G L,et al.GNSS Payload and Signal Characterization Using a3m Dish Antenna[C]∥Proceedings of the 25th International Technical Meeting of The Satellite Division of the Institute of Navigation.Nashville,TN:ION GNSS,2012:347-356.
[8]HAUSCHILD A,MONTENBRUCK O,SLEEWAEGEN J M,et al.Characterization of Compass M-1Signals[J].GPS Solutions,2012,16(1):117-126.DOI:10.1007/s10291-011-0210-3.
[9]HAUSCHILD A,MONTENBRUCK O,THOELERT S,et al.A Multi-technique Approach for Characterizing the SVN49Signal Anomaly,Part 1:Receiver Tracking and IQ Constellation[J].GPS Solutions,2012,16(1):19-28.DOI:10.1007/s10291-011-0203-2.
[10]WANNINGER L,BEER S.BeiDou Satellite-induced Code Pseudorange Variations:Diagnosis and Therapy[J].GPS Solutions,2015,19(4):639-648.
[11]LI Jinlong,YANG Yuanxi,XU Junyi,et al.GNSS MultiCarrier Fast Partial Ambiguity Resolution Strategy Tested with Real BDS/GPS Dual-and Triple-frequency Observations[J].GPS Solutions,2015,19(1):5-13.
[12]WANG Min,CHAI Hongzhou,LI Yu.Performance Analysis of BDS/GPS Precise Point Positioning with Undifferenced Ambiguity Resolution[J].Advances in Space Research,2017,60(12):2581-2595.
[13]LIU Yanyan,YE Shirong,SONG Weiwei,et al.Integrating GPS and BDS to Shorten the Initialization Time for AmbiguityFixed PPP[J].GPS Solutions,2017,21(2):333-343.
[14]雍雯.北斗高精度定位模糊度解算方法研究[D].南京:东南大学,2014.YONG Wen.Research on Approach of Beidou High Precision Positioning Ambiguity Resolution[D].Nanjing:Southeast University,2014.
[15]LI Pan,ZHANG Xiaohong,GUO Fei.Ambiguity Resolved Precise Point Positioning with GPS and BeiDou[J].Journal of Geodesy,2017,91(9):25-40.
[16]ANTONINI M,BARLAUD M,MATHIEU P,et al.Image Coding Using Wavelet Transform[J].IEEE Transactions on Image Processing,1992,1(2):205-220.
[17]王广兴.北斗观测值特性分析及其在PPP模糊度固定应用中的研究[D].武汉:武汉大学,2016.WANG Guangxing.On the Analysis of Beidou Observations’Characteristics and Its Application in PPP Integer Ambiguity Resolution[D].Wuhan:Wuhan University,2016.
[18]张小红,李盼,李星星,等.宽巷载波相位模糊度小数偏差时变特性分析[J].测绘学报,2013,42(6):798-803,809.ZHANG Xiaohong,LI Pan,LI Xingxing,et al.An Analysis of Time-varying Property of Widelane Carrier Phase Ambiguity Fractional Bias[J].Acta Geodaetica et Cartographica Sinica,2013,42(6):798-803,809.
[19]MELBOURNE W G.The Case for Ranging in GPS-Based Geodetic Systems[C]∥Proceedings of the first International Symposium on Precise Positioning with Global Positioning System.Rockville,MD:International Symposium on Precise Positioning,1985:373-386.
[20]WBBENA G.Software Developm ents for Geodetic Positioning with GPS Using TI-4100 Code and Carrier Measurements[C]∥Proceedings of the First International Symposium on Precise Positioning with the Global Positioning System.Rockville,MD:International Symposium on Precise Positioning,1985:403-412.
[21]LI Pan,ZHANG Xiaohong,REN Xiaodong,et al.Generating GPS Satellite Fractional Cycle Bias for Ambiguity-fixed Precise Point Positioning[J].GPS Solutions,2016,20(4):771-782.
[22]LI Xingxing,GE Maorong,ZHANG Hongping,et al.A Method for Improving Uncalibrated Phase Delay Estimation and Ambiguity-fixing in Real-time Precise Point Positioning[J].Journal of Geodesy,2013,87(5):405-416.
[23]LI Xingxing,ZHANG Xiaohong.Improving the Estimation of Uncalibrated Fractional Phase Offsets for PPP Ambiguity Resolution[J].Journal of Navigation,2012,65(3):513-529.
[24]TEU NISSEN P J G.The Least-squares A m biguity Decorrelation Adjustment:a Method for Fast GPS Integer Ambiguity Estimation[J].Journal of Geodesy,1995,70(1-2):65-82.