基于钟差预测辅助的TDCP测速研究
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摘要
针对重特大灾害发生时密集废墟或城市峡谷造成的信号频繁遮挡,以及由高压电力通讯设施或发生地震等灾害时产生的复杂强电子干扰而无法测速的问题,基于时间序列理论,对接收机钟差进行短期预测,并将钟差预测辅助载波相位时间差分(time-differenced carrier phase,TDCP)算法进行解算,以实现恶劣环境下载体获取三维测速信息的功能。由于TDCP避免了整周模糊度解算的问题,能够有效削弱具有明显时间序列的共模误差,具有短期精度高的特点,因此,本文利用少于4颗的GPS有效卫星星座,通过ARIMA模型得到一定精度的接收机钟差短期预测值,来扩充测速观测条件,并结合TDCP获取短期较高精度的测速结果。实测数据表明,本方案能在80 s的时间尺度内,在有效卫星数不足的情况下,无需增加额外硬件即可满足载体测速需求,且测速精度在动态条件下可以达到分米级。
In order to solve the problem of frequent blocking of signals caused by dense debris and urban canyons,and complex strong electronic interference caused by high-voltage power communication facilities or earthquakes during the occurrence of serious and super-large disasters,the receiver clock bias was predicted in a short term based on the time series theory,and the clock bias prediction value was used to assist the timedifferenced carrier phase (TDCP) algorithm to realize the function of obtaining three-dimensional velocity measurement information for downloads in severe environments. Because the TDCP avoided the problem of ambiguity resolution for the whole cycle,it could effectively weaken the common mode errors with obvious time series,and had a characteristic of high accuracy in a short term,so that less than four GPS active satellite constellations were used to obtain short-term prediction values of receiver clock bias with certain accuracy through ARIMA model to expand the observation conditions of velocity measurement,and short-term high-accuracy velocity measurement results with TDCP. The measured data showed that this scheme could meet the requirements of carrier speed measurement without adding additional hardware in the time scale of 80 s and under the condition that the number of effective satellites was insufficient. The speed measurement accuracy can reach the decimeter level under dynamic conditions.
In order to solve the problem of frequent blocking of signals caused by dense debris and urban canyons,and complex strong electronic interference caused by high-voltage power communication facilities or earthquakes during the occurrence of serious and super-large disasters,the receiver clock bias was predicted in a short term based on the time series theory,and the clock bias prediction value was used to assist the timedifferenced carrier phase (TDCP) algorithm to realize the function of obtaining three-dimensional velocity measurement information for downloads in severe environments. Because the TDCP avoided the problem of ambiguity resolution for the whole cycle,it could effectively weaken the common mode errors with obvious time series,and had a characteristic of high accuracy in a short term,so that less than four GPS active satellite constellations were used to obtain short-term prediction values of receiver clock bias with certain accuracy through ARIMA model to expand the observation conditions of velocity measurement,and short-term high-accuracy velocity measurement results with TDCP. The measured data showed that this scheme could meet the requirements of carrier speed measurement without adding additional hardware in the time scale of 80 s and under the condition that the number of effective satellites was insufficient. The speed measurement accuracy can reach the decimeter level under dynamic conditions.
引文
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[2]王世进,秘金钟,李得海,等.GPS/BDS的RTK定位算法研究[J].武汉大学学报(信息科学版),2014,39(5):621-625.WANG S J,BEI J Z,LI D H,et al.Real-time kinematic positioning algorithm of GPS/BDS[J].Geomatics and Information Science of Wuhan University,2014,39(5):621-625.
[3]李团,章红平,牛小骥,等.城市环境下BDS+GPSRTK+INS紧组合算法性能分析[J].测绘通报,2016(9):9-12.LI T,ZHANG H P,NIU X J,et al.Performance analysis of BDS+GPS RTK+INS tightly-coupled algorithm in urban environments[J].Bulletin of Surveying and Mapping,2016(9):9-12.
[4]夏敬潮,叶世榕,刘炎炎,等.Wi-Fi辅助下附有高程信息的GPS定位[J].武汉大学学报(信息科学版),2014,39(1):52-55.XIA J C,YE S R,LIU Y Y,et al.Wi-Fi assisted GPSpositioning with fixed geodetic height[J].Geomatics and Information Science of Wuhan University,2014,39(1):52-55.
[5]JAN S S,GEBRE-EGZIABHER D,WALTER T,et al.Improving GPS-based landing system performance using an empirical barometric altimeter confidence bound[J].IEEE Transactions on Aerospace&Electronic Systems,2008,44(1):127-146.
[6]ANTONIO N.GPS and Google Earth based 3D assisted driving system for trucks in surface mines[J].International Journal of Mining Science and Technology,2010,20(1):138-142.
[7]TAN Y K,SCOTT C A,DEMPSTER A G.Detecting object movement through the use of two GNSS satellites[C]//Gold Coast,Australia:IGNSS Symp,2009.
[8]PHATAK M,CHANSARKAR M,KOHLI S.Position fix from three GPS satellites and altitude:A direct method[J].IEEE Transactions on Aerospace&Electronic Systems,2002,35(1):350-354.
[9]滕云龙,师奕兵,郑植.恶劣环境下GPS接收机定位算法研究[J].仪器仪表学报,2011,32(8):1879-1884.TENG Y L,SHI Y B,ZHENG Z.Research on GPS receiver positioning algorithm under bad conditions[J].Chinese Journal of Scientific Instrument,2011,32(8):1879-1884.
[10]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 Z M.A comparison of several approaches for velocity determination with GPS[J].Acta Geodaetica et Cartographica Sinica,2002,31(3):217-221.
[11]GRAAS F V,SOLOVIEV A.Precise velocity estimation using a stand-alone GPS receiver[J].Navigation,2004,51(4):283-292.
[12]闫勇伟,叶世榕,夏敬潮.BDS载波相位历元间差分测速方法研究[J].测绘科学,2016,41(7):193-196.YAN Y W,YE S R,XIA J C.Research of BDS velocity estimation with time differenced carrier phase method[J].Science of Surveying and Mapping,2016,41(7):193-196.
[13]朱伟刚,余鑫,王刚.BDS广播星历轨道和钟的精度评估[J].空间电子技术,2017,14(5):89-94.ZHU W G,YU X,WANG G.Accuracy assessment on orbit and clock of Beidou satellites broadcast ephemeris[J].Space Electronic Technology,2017,14(5):89-94.
[14]罗璠,李建文,黄海,等.BDS广播星历的轨道误差分析[J].测绘通报,2015(2):70-72.LUO F,LI J W,HUANG H,et al.Error analysis of orbit determined by BDS broadcast ephemeris[J].Bulletin of Surveying and Mapping,2015(2):70-72.
[15]胡亚轩,王雄,程林,等.GNSS观测站环境变化对数据质量的影响[J].测绘科学,2018(3):131-136.HU Y X,WANG X,CHEN L.Study on the data quality with the changing surroundings of GNSS stations[J].Science of Surveying and Mapping,2018(3):131-136.
[16]BOX G E P,JENKINS G.Time series analysis,forecasting and control[M].San Francisco:Holden-Day,Incorporated,1990.
[17]赵亮,兰孝奇,盛建岳.ARIMA模型在卫星钟差预报中的应用[J].水利与建筑工程学报,2012,10(1):135-137.ZHAO L,LAN X Q,SHENG J Y.Application of ARI-MA model in satellite clock error forecasting[J].Journal of Water Resources and Architectural Engineering,2012,10(1):135-137.