惯导辅助的无电离层与宽巷组合周跳探测与修复方法
|
摘要
由于卫星信号被遮挡、低信噪比或接收机运动等原因,载波相位观测值较正常值会发生周跳。为解决这一问题,基于精密单点定位与惯导组合系统,提出了一种有效的惯导辅助周跳探测与修复方法。该方法基于无电离层(ionospheric free, IF)组合与宽巷(wide lane, WL)组合,利用惯导短时高精度信息代替伪距消除站星几何距离,结合历元间差、星间差等建立惯导辅助的IF组合模型和惯导辅助的WL组合模型。惯导辅助的IF组合模型不受电离层延迟影响,但无法探测特殊比例周跳,惯导辅助的WL组合模型波长较长,却无法探测双频等周周跳,两者的综合使用实现了优势互补。实验结果表明,该方法不仅能有效探测出各种大、小、双频等周和特殊比例周跳,而且在一定卫星信号中断时间内能实现周跳瞬时校正。
Cycle slips often occur in carrier phase observations due to the problem of the obstruction, low signal-to-noise ratio, or high receiver dynamics. An effective INS(inertial navigation system)-aided cycle slip detection and repair method is presented, which is based on PPP/INS integrated system. It utilizes high-precision INS information instead of a pseudorange to remove the satellite-receiver geometric range in the wide-lane and ionospheric-free phase combinations, cooperates with satellite and epoch differential processing, and creates INS-aided wide-lane model and INS-aided ionospheric-free model. The INS-aided ionospheric-free model is unaffected by the dramatic changes in the ionosphere but cannot detect the special pairs of cycle slips. The INS-aided wide-lane model has a long wavelength. However, it is insensitive to the equal cycle slips on dual frequencies. So their combination can achieve mutual complementary advantages. The results show that this method can effectively detect and repair various types of cycle slips. Moreover, when it comes to the cycle slip after a GPS interruption, the method can realize the instantaneous correction.
Cycle slips often occur in carrier phase observations due to the problem of the obstruction, low signal-to-noise ratio, or high receiver dynamics. An effective INS(inertial navigation system)-aided cycle slip detection and repair method is presented, which is based on PPP/INS integrated system. It utilizes high-precision INS information instead of a pseudorange to remove the satellite-receiver geometric range in the wide-lane and ionospheric-free phase combinations, cooperates with satellite and epoch differential processing, and creates INS-aided wide-lane model and INS-aided ionospheric-free model. The INS-aided ionospheric-free model is unaffected by the dramatic changes in the ionosphere but cannot detect the special pairs of cycle slips. The INS-aided wide-lane model has a long wavelength. However, it is insensitive to the equal cycle slips on dual frequencies. So their combination can achieve mutual complementary advantages. The results show that this method can effectively detect and repair various types of cycle slips. Moreover, when it comes to the cycle slip after a GPS interruption, the method can realize the instantaneous correction.
引文
[1] Zhang Qiuzhao, Zhang Shubi, Liu Zhiping, et al. Tightly-Coupled GPS/SINS Integrated System Measurement Model Based on Double-Difference Pseudo-Range/Pseudo-Range Rate[J]. Geomatics and Information Science of Wuhan University, 2015, 40(12): 1 690-1 694 (张秋昭, 张书毕, 刘志平,等. 基于双差伪距/伪距率的GPS/SINS紧组合导航[J]. 武汉大学学报·信息科学版, 2015, 40(12): 1 690-1 694)
[2] Li Zengke, Wang Jian, Gao Jingxiang. The Apply of Precise Point Positioning in GPS/INS Integrated Navigation[J]. Geomatics and Information Science of Wuhan University, 2013, 38(1): 48-51 (李增科, 王坚, 高井祥. 精密单点定位在GPS/INS组合导航中的应用[J]. 武汉大学学报·信息科学版, 2013, 38(1): 48-51)
[3] Lu Yu, Hu Rui, Yang Yunchun. A Low Cost GPS/INS Tightly-Coupled Navigation System[J]. Geomatics and Information Science of Wuhan University, 2011, 36(4): 481-485 (鲁郁, 胡锐, 杨云春. 一种低成本GPS/INS紧耦合组合导航系统[J]. 武汉大学学报·信息科学版, 2011, 36(4): 481-485)
[4] Blewitt G. An Automatic Editing Algorithm for GPS Data[J]. Geophysical Research Letters, 1990, 17(3): 199-202
[5] Liu Z. A New Automated Cycle Slip Detection and Repair Method for a Single Dual-Frequency GPS Receiver[J]. Journal of Geodesy, 2011, 85(3): 171-183
[6] Cai C, Liu Z, Xia P, et al. Cycle Slip Detection and Repair for Undifferenced GPS Observations Under High Ionospheric Activity[J]. GPS Solutions, 2013, 17(2): 247-260
[7] Banville S, Langley R B. Improving Real-Time Kinematic PPP with Instantaneous Cycle-Slip Correction[C]. ION GNSS, GA, USA, 2009
[8] Geng J, Meng X, Dodson A H, et al. Rapid Re- convergences to Ambiguity-Fixed Solutions in Precise Point Positioning[J]. Journal of Geodesy, 2010, 84(12): 705-714
[9] Zhang X, Li X. Instantaneous Re-initialization in Real-Time Kinematic PPP with Cycle Slip Fixing[J]. GPS Solutions, 2012, 16(3): 315-327
[10] Chai Yanju, Yang Rengui, Zhang Baocheng. Cycle-slip Automatic Detection and Processing Strategy for Dynamic PPP[J]. Chinese Journal of Geophy- sics, 2014, 57(5): 433-439 (柴艳菊, 阳仁贵, 张宝成. 动态 PPP 定位中周跳自动探测与处理策略[J]. 地球物理学报, 2014, 57(5): 433-439)
[11] Ding Wenwu, Ou Jikun. Instantaneous Re-initia- lization of Real Time Kinematic PPP by Adding Doppler Observation[J]. Journal of Astronautics, 2013, 34(6): 795-800 (丁文武, 欧吉坤. 增加 Doppler 观测值实现实时动态 PPP 快速重新初始化[J]. 宇航学报, 2013, 34(6): 795-800)
[12] Lacy M C, Reguzzoni M. Real-Time Cycle Slip Detection in Triple-Frequency GNSS[M]. New York: Springer-Verlag, 2012
[13] Cao Xinyun, Wang Jian. Cycle-Slip Detection and Repair Using GPS Triple-Frequency Undifferenced Observations[J]. Geomatics and Information Science of Wuhan University, 2014, 39(4): 450-456 (曹新运, 王坚. GPS三频非差观测值探测与修复周跳[J]. 武汉大学学报·信息科学版, 2014, 39(4): 450-456)
[14] Sun Baoqi, Ou Jikun, Sheng Chuanzhen, et al. Optimal Multi-frequency Data Combination for Compass Cycle Slip Detection and Reparation[J]. Geomatics and Information Science of Wuhan University, 2010, 35(10): 157-160 (孙保琪, 欧吉坤, 盛传贞,等. 一种适于Compass周跳探测的三频数据优化组合[J]. 武汉大学学报·信息科学版, 2010, 35(10): 157-160)
[15] Colombo O L, Bhapkar U V. Inertial-Aided Cycle-Slip Detection/Correction for Precise, Long-Baseline Kinematic GPS[C]. ION GPS, Nashville, TN, USA, 1999
[16] Altmayer C. Enhancing the Integrity of Integrated GPS/INS Systems by Cycle Slip Detection and Correction[C]. IEEE Intelligent Vehicles Symposium, Dearborn, MI, USA, 2000
[17] Lee H K, Wang J C R. Effective Cycle Slip Detection and Identification for High Precision GPS/INS Integrated Systems[J]. Journal of Navigation, 2003, 56(3): 475-486
[18] Han Houzeng, Wang Jian, Li Zengke. Inertial Aided Kinematic GPS Cycle Slip Detection and Correction for GPS/INS Tightly Coupled System[J]. Acta Geodaetica et Cartographica Sinica, 2015, 44(8): 848-857 (韩厚增, 王坚, 李增科. GPS/INS紧组合的INS辅助周跳探测与修复[J]. 测绘学报, 2015, 44(8): 848-857)
[19] Du S, Gao Y. Inertial Aided Cycle Slip Detection and Identification for Integrated PPP GPS and INS[J]. Sensors, 2012, 12(11): 14 344-14 362
[20] Liu Shuai, Sun Fuping, Zhang Lundong, et al. Instantaneous Re-convergence of Precise Point Positioning by Using INS-aided Cycle-Slip Correction[J]. Journal of Chinese Inertial Technology, 2015, 23(5): 607-614 (刘帅, 孙付平, 张伦东, 等. INS 辅助周跳修复以实现精密单点定位瞬时重新收敛[J]. 中国惯性技术学报, 2015, 23(5): 607-614)
[21] Younsil K, Junesol S, Changdon K, et al. GPS Cycle Slip Detection Considering Satellite Geometry Based on TDCP/INS Integrated Navigation[J]. Sensors, 2015, 15(10): 336-365
[22] Gregorius T L H, Blewitt G. Modeling Weather Fronts to Improve GPS Heights: A New Tool for GPS Meteorology[J]. Journal of Geophysical Research: Solid Earth, 1999, 104(B7): 261-279
[23] Shan S, Bevis M, Kendrick E, et al. Kinematic GPS Solutions for Aircraft Trajectories: Identifying and Minimizing Systematic Height Errors Associa- ted with Atmospheric Propagation Delays[J]. Geophysical Research Letters, 2007, 34(23): 315-324
[24] Zhang Xiaohong, Zhu Feng, Li Pan, et al. Zenith Troposphere Delay Interpolation Model for Regional CORS Network Augmented PPP[J]. Geomatics and Information Science of Wuhan University, 2013, 38(6): 679-683 (张小红, 朱锋, 李盼,等. 区域CORS网络增强PPP天顶对流层延迟内插建模[J]. 武汉大学学报·信息科学版, 2013, 38(6): 679-683)
[25] Dai L, Wang J, Rizos C, et al. Predicting Atmospheric Biases for Real-Time Ambiguity Resolution in GPS/GLONASS Reference Station Networks[J]. Journal of Geodesy, 2003, 76(11/12): 617-628
[26] Song Weiwei, Shi Chuang, Yao Yibin, et al. Ionosphere Delay Processing Methods and Positioning Precision of Single Frequency Precise Point Positioning[J]. Geomatics and Information Science of Wuhan University, 2009, 34(7): 778-781 (宋伟伟, 施闯, 姚宜斌,等. 单频精密单点定位电离层改正方法和定位精度研究[J]. 武汉大学学报·信息科学版, 2009, 34(7): 778-781)
[27] Liu J, Chen R, Wang Z, et al. Spherical Cap Harmonic Model for Mapping and Predicting Regional TEC[J]. GPS Solutions, 2011, 15(2): 109-119
[28] Shi C, Gu S, Lou Y, et al. An Improved Approach to Model Ionospheric Delays for Single-Frequency Precise Point Positioning[J]. Advances in Space Research, 2012, 49(12): 698-708
[29] Xiao Kai, Sun Fuping, Wang Haoyuan, et al. Inertial Aided Triple-Frequency Cycle Slip Detection and Repair of BDS/INS Tightly-Coupled Integration[J]. Journal of Chinese Inertial Technology, 2018, 26(2): 215-222 (肖凯, 孙付平, 王浩源,等. 北斗/INS紧组合的惯性辅助三频周跳探测和修复[J]. 中国惯性技术学报, 2018, 26(2): 215-222)
[30] Wang L, Gan Y, Wei E, et al. INS-Aided Single-Frequency Cycle-Slip Detection for Real-Time Kinematic GNSS[C]. China Satellite Navigation Confe- rence, Harbin, China, 2018
[31] Chiang K W, Duong T T, Liao J K. The Perfor- mance Analysis of a Real-Time Integrated INS/GPS Vehicle Navigation System with Abnormal GPS Measurement Elimination[J]. Sensors, 2013, 13(8):10 599-10 622
[32] Titterton D H, Weston J L. Strapdown Inertial Navigation Technology [M]. Reston, VA: American Institute of Aeronautics and Astronautics, 2004
[2] Li Zengke, Wang Jian, Gao Jingxiang. The Apply of Precise Point Positioning in GPS/INS Integrated Navigation[J]. Geomatics and Information Science of Wuhan University, 2013, 38(1): 48-51 (李增科, 王坚, 高井祥. 精密单点定位在GPS/INS组合导航中的应用[J]. 武汉大学学报·信息科学版, 2013, 38(1): 48-51)
[3] Lu Yu, Hu Rui, Yang Yunchun. A Low Cost GPS/INS Tightly-Coupled Navigation System[J]. Geomatics and Information Science of Wuhan University, 2011, 36(4): 481-485 (鲁郁, 胡锐, 杨云春. 一种低成本GPS/INS紧耦合组合导航系统[J]. 武汉大学学报·信息科学版, 2011, 36(4): 481-485)
[4] Blewitt G. An Automatic Editing Algorithm for GPS Data[J]. Geophysical Research Letters, 1990, 17(3): 199-202
[5] Liu Z. A New Automated Cycle Slip Detection and Repair Method for a Single Dual-Frequency GPS Receiver[J]. Journal of Geodesy, 2011, 85(3): 171-183
[6] Cai C, Liu Z, Xia P, et al. Cycle Slip Detection and Repair for Undifferenced GPS Observations Under High Ionospheric Activity[J]. GPS Solutions, 2013, 17(2): 247-260
[7] Banville S, Langley R B. Improving Real-Time Kinematic PPP with Instantaneous Cycle-Slip Correction[C]. ION GNSS, GA, USA, 2009
[8] Geng J, Meng X, Dodson A H, et al. Rapid Re- convergences to Ambiguity-Fixed Solutions in Precise Point Positioning[J]. Journal of Geodesy, 2010, 84(12): 705-714
[9] Zhang X, Li X. Instantaneous Re-initialization in Real-Time Kinematic PPP with Cycle Slip Fixing[J]. GPS Solutions, 2012, 16(3): 315-327
[10] Chai Yanju, Yang Rengui, Zhang Baocheng. Cycle-slip Automatic Detection and Processing Strategy for Dynamic PPP[J]. Chinese Journal of Geophy- sics, 2014, 57(5): 433-439 (柴艳菊, 阳仁贵, 张宝成. 动态 PPP 定位中周跳自动探测与处理策略[J]. 地球物理学报, 2014, 57(5): 433-439)
[11] Ding Wenwu, Ou Jikun. Instantaneous Re-initia- lization of Real Time Kinematic PPP by Adding Doppler Observation[J]. Journal of Astronautics, 2013, 34(6): 795-800 (丁文武, 欧吉坤. 增加 Doppler 观测值实现实时动态 PPP 快速重新初始化[J]. 宇航学报, 2013, 34(6): 795-800)
[12] Lacy M C, Reguzzoni M. Real-Time Cycle Slip Detection in Triple-Frequency GNSS[M]. New York: Springer-Verlag, 2012
[13] Cao Xinyun, Wang Jian. Cycle-Slip Detection and Repair Using GPS Triple-Frequency Undifferenced Observations[J]. Geomatics and Information Science of Wuhan University, 2014, 39(4): 450-456 (曹新运, 王坚. GPS三频非差观测值探测与修复周跳[J]. 武汉大学学报·信息科学版, 2014, 39(4): 450-456)
[14] Sun Baoqi, Ou Jikun, Sheng Chuanzhen, et al. Optimal Multi-frequency Data Combination for Compass Cycle Slip Detection and Reparation[J]. Geomatics and Information Science of Wuhan University, 2010, 35(10): 157-160 (孙保琪, 欧吉坤, 盛传贞,等. 一种适于Compass周跳探测的三频数据优化组合[J]. 武汉大学学报·信息科学版, 2010, 35(10): 157-160)
[15] Colombo O L, Bhapkar U V. Inertial-Aided Cycle-Slip Detection/Correction for Precise, Long-Baseline Kinematic GPS[C]. ION GPS, Nashville, TN, USA, 1999
[16] Altmayer C. Enhancing the Integrity of Integrated GPS/INS Systems by Cycle Slip Detection and Correction[C]. IEEE Intelligent Vehicles Symposium, Dearborn, MI, USA, 2000
[17] Lee H K, Wang J C R. Effective Cycle Slip Detection and Identification for High Precision GPS/INS Integrated Systems[J]. Journal of Navigation, 2003, 56(3): 475-486
[18] Han Houzeng, Wang Jian, Li Zengke. Inertial Aided Kinematic GPS Cycle Slip Detection and Correction for GPS/INS Tightly Coupled System[J]. Acta Geodaetica et Cartographica Sinica, 2015, 44(8): 848-857 (韩厚增, 王坚, 李增科. GPS/INS紧组合的INS辅助周跳探测与修复[J]. 测绘学报, 2015, 44(8): 848-857)
[19] Du S, Gao Y. Inertial Aided Cycle Slip Detection and Identification for Integrated PPP GPS and INS[J]. Sensors, 2012, 12(11): 14 344-14 362
[20] Liu Shuai, Sun Fuping, Zhang Lundong, et al. Instantaneous Re-convergence of Precise Point Positioning by Using INS-aided Cycle-Slip Correction[J]. Journal of Chinese Inertial Technology, 2015, 23(5): 607-614 (刘帅, 孙付平, 张伦东, 等. INS 辅助周跳修复以实现精密单点定位瞬时重新收敛[J]. 中国惯性技术学报, 2015, 23(5): 607-614)
[21] Younsil K, Junesol S, Changdon K, et al. GPS Cycle Slip Detection Considering Satellite Geometry Based on TDCP/INS Integrated Navigation[J]. Sensors, 2015, 15(10): 336-365
[22] Gregorius T L H, Blewitt G. Modeling Weather Fronts to Improve GPS Heights: A New Tool for GPS Meteorology[J]. Journal of Geophysical Research: Solid Earth, 1999, 104(B7): 261-279
[23] Shan S, Bevis M, Kendrick E, et al. Kinematic GPS Solutions for Aircraft Trajectories: Identifying and Minimizing Systematic Height Errors Associa- ted with Atmospheric Propagation Delays[J]. Geophysical Research Letters, 2007, 34(23): 315-324
[24] Zhang Xiaohong, Zhu Feng, Li Pan, et al. Zenith Troposphere Delay Interpolation Model for Regional CORS Network Augmented PPP[J]. Geomatics and Information Science of Wuhan University, 2013, 38(6): 679-683 (张小红, 朱锋, 李盼,等. 区域CORS网络增强PPP天顶对流层延迟内插建模[J]. 武汉大学学报·信息科学版, 2013, 38(6): 679-683)
[25] Dai L, Wang J, Rizos C, et al. Predicting Atmospheric Biases for Real-Time Ambiguity Resolution in GPS/GLONASS Reference Station Networks[J]. Journal of Geodesy, 2003, 76(11/12): 617-628
[26] Song Weiwei, Shi Chuang, Yao Yibin, et al. Ionosphere Delay Processing Methods and Positioning Precision of Single Frequency Precise Point Positioning[J]. Geomatics and Information Science of Wuhan University, 2009, 34(7): 778-781 (宋伟伟, 施闯, 姚宜斌,等. 单频精密单点定位电离层改正方法和定位精度研究[J]. 武汉大学学报·信息科学版, 2009, 34(7): 778-781)
[27] Liu J, Chen R, Wang Z, et al. Spherical Cap Harmonic Model for Mapping and Predicting Regional TEC[J]. GPS Solutions, 2011, 15(2): 109-119
[28] Shi C, Gu S, Lou Y, et al. An Improved Approach to Model Ionospheric Delays for Single-Frequency Precise Point Positioning[J]. Advances in Space Research, 2012, 49(12): 698-708
[29] Xiao Kai, Sun Fuping, Wang Haoyuan, et al. Inertial Aided Triple-Frequency Cycle Slip Detection and Repair of BDS/INS Tightly-Coupled Integration[J]. Journal of Chinese Inertial Technology, 2018, 26(2): 215-222 (肖凯, 孙付平, 王浩源,等. 北斗/INS紧组合的惯性辅助三频周跳探测和修复[J]. 中国惯性技术学报, 2018, 26(2): 215-222)
[30] Wang L, Gan Y, Wei E, et al. INS-Aided Single-Frequency Cycle-Slip Detection for Real-Time Kinematic GNSS[C]. China Satellite Navigation Confe- rence, Harbin, China, 2018
[31] Chiang K W, Duong T T, Liao J K. The Perfor- mance Analysis of a Real-Time Integrated INS/GPS Vehicle Navigation System with Abnormal GPS Measurement Elimination[J]. Sensors, 2013, 13(8):10 599-10 622
[32] Titterton D H, Weston J L. Strapdown Inertial Navigation Technology [M]. Reston, VA: American Institute of Aeronautics and Astronautics, 2004