RTK系统中整周模糊度求解技术研究
|
摘要
卫星导航系统中单频RTK(Real Time Kinematic)技术是降低终端成本、提高定位精度的重要技术,整周模糊度的求解是实现RTK的关键技术之一。本文从RTK系统的实际需求出发,深入研究了单频RTK系统中整周模糊度快速求解技术。
本文的主要内容如下:
首先对RTK系统组成、工作原理以及主要误差源等进行了介绍。在此基础上,从适用性、计算量、搜索时间及搜索范围的可控性等方面分析比较了多种整周模糊度解算方法,选择了性能较优的LAMBDA方法作为本文研究的基础。
围绕提升模糊度求解性能的两个关键因素:浮点解的准确性和搜索方法的高效性,采用了抗病态估计、联合去相关结合序贯条件最小二乘搜索的综合模糊度求解策略,对基于LAMBDA方法的模糊度解算算法进行了优化。针对单频快速定位中法方程病态严重的特点,研究了两种TIKHONOV正则化方法,算例结果表明:正则化方法提高了浮点解估计精度,不仅可以减少搜索到正确模糊度解所需的历元数,而且可以加快每历元模糊度的搜索速度,更有利于实时处理。为了降低LAMBDA方法中降相关处理的复杂程度,进一步提升搜索效率,研究了两种更加简捷的降相关算法:迭代法和联合去相关法,算例结果表明:联合去相关法的稳健性较好,针对舍入误差及噪声影响导致病态分解,其处理成功率高于迭代法。
结合研究内容,搭建了模拟测试系统,采用模块测试、系统测试方法,在北斗二号混合星座条件下,对综合模糊度解算算法进行了验证。结果表明,在MEO卫星和IOSO卫星构成的混合星座条件下,综合算法仍能以较高的成功率快速求出整周模糊度,得到高精度的相对定位结果,适于RTK系统的初始化。
本文的研究成果可以应用到北斗二号系统监测接收机、用户机及主控站等的定位及精密定轨应用中,为单频RTK技术在我国二代卫星导航系统中的广泛应用提供技术支持。
The single frequency RTK(Real Time Kinematic) is the important technology to reduce the cost of terminal and improve the precision of positioning, the integer ambiguity resolution is one of the key technologies for RTK. Based on the actual requirement of RTK system, this dissertation has a deep research on the fast algorithm of the integer ambiguity resolution in the RTK.
The major content is as follows:
Firstly, the components, the theory of RTK system are introduced. At the same time, the reason of main errors of the RTK system is discussed. After comparing some algorithms for the integer ambiguity resolution, the LAMBDA algorithm is regarded as a more effective algorithm considering application, time and the control of searching candidates and is discussed in this dissertation.
The two key factors of ambiguity resolution are the accuracy of the float solution and the efficiency of the searching method. This dissertation has a relatively thorough study on how to promote this two factors, and synthesizes the TIKHONOV regularization method, the united ambiguity de-correlation method and the sequential conditional least-squares adjustment search algorithm as a compositive ambiguity resolution strategy. First, some TIKHONOV regularization methods have been studied to mitigate the ill-condition in single frequency rapid positioning. They can not only reduce the number of epochs for correct ambiguity integers, but also accelerate the searching of ambiguity integers. Secondly, the united ambiguity de-correlation method and iterative method are used to promote the efficiency of the search program further more. The experiment shows that the former is more steadiness and effective in dealing with the ill-decomposition because of the round error and noise.
This dissertation constructs the simulating system. The module test and system test are used to validate the performance of compositive algorithm in the mixing constellation of BD-2 system. The results show that this method can resolve the correct ambiguity integers in the high success rate. RTK system can use this method to be initialized.
The results in this dissertation can be applied to the monitoring receiver and control station of BD-2 system. It can provide the technology for the use of single frequency RTK technology in BD-2 system.
本文的主要内容如下:
首先对RTK系统组成、工作原理以及主要误差源等进行了介绍。在此基础上,从适用性、计算量、搜索时间及搜索范围的可控性等方面分析比较了多种整周模糊度解算方法,选择了性能较优的LAMBDA方法作为本文研究的基础。
围绕提升模糊度求解性能的两个关键因素:浮点解的准确性和搜索方法的高效性,采用了抗病态估计、联合去相关结合序贯条件最小二乘搜索的综合模糊度求解策略,对基于LAMBDA方法的模糊度解算算法进行了优化。针对单频快速定位中法方程病态严重的特点,研究了两种TIKHONOV正则化方法,算例结果表明:正则化方法提高了浮点解估计精度,不仅可以减少搜索到正确模糊度解所需的历元数,而且可以加快每历元模糊度的搜索速度,更有利于实时处理。为了降低LAMBDA方法中降相关处理的复杂程度,进一步提升搜索效率,研究了两种更加简捷的降相关算法:迭代法和联合去相关法,算例结果表明:联合去相关法的稳健性较好,针对舍入误差及噪声影响导致病态分解,其处理成功率高于迭代法。
结合研究内容,搭建了模拟测试系统,采用模块测试、系统测试方法,在北斗二号混合星座条件下,对综合模糊度解算算法进行了验证。结果表明,在MEO卫星和IOSO卫星构成的混合星座条件下,综合算法仍能以较高的成功率快速求出整周模糊度,得到高精度的相对定位结果,适于RTK系统的初始化。
本文的研究成果可以应用到北斗二号系统监测接收机、用户机及主控站等的定位及精密定轨应用中,为单频RTK技术在我国二代卫星导航系统中的广泛应用提供技术支持。
The single frequency RTK(Real Time Kinematic) is the important technology to reduce the cost of terminal and improve the precision of positioning, the integer ambiguity resolution is one of the key technologies for RTK. Based on the actual requirement of RTK system, this dissertation has a deep research on the fast algorithm of the integer ambiguity resolution in the RTK.
The major content is as follows:
Firstly, the components, the theory of RTK system are introduced. At the same time, the reason of main errors of the RTK system is discussed. After comparing some algorithms for the integer ambiguity resolution, the LAMBDA algorithm is regarded as a more effective algorithm considering application, time and the control of searching candidates and is discussed in this dissertation.
The two key factors of ambiguity resolution are the accuracy of the float solution and the efficiency of the searching method. This dissertation has a relatively thorough study on how to promote this two factors, and synthesizes the TIKHONOV regularization method, the united ambiguity de-correlation method and the sequential conditional least-squares adjustment search algorithm as a compositive ambiguity resolution strategy. First, some TIKHONOV regularization methods have been studied to mitigate the ill-condition in single frequency rapid positioning. They can not only reduce the number of epochs for correct ambiguity integers, but also accelerate the searching of ambiguity integers. Secondly, the united ambiguity de-correlation method and iterative method are used to promote the efficiency of the search program further more. The experiment shows that the former is more steadiness and effective in dealing with the ill-decomposition because of the round error and noise.
This dissertation constructs the simulating system. The module test and system test are used to validate the performance of compositive algorithm in the mixing constellation of BD-2 system. The results show that this method can resolve the correct ambiguity integers in the high success rate. RTK system can use this method to be initialized.
The results in this dissertation can be applied to the monitoring receiver and control station of BD-2 system. It can provide the technology for the use of single frequency RTK technology in BD-2 system.
引文
[1]全球卫星导航系统介绍之二:美国的全球卫星定位系统GPS.http://dqs.ndrc.gov.cn/gzdt/P020070329346850988181.doc.
[2]全球卫星导航系统介绍之三:俄罗斯GLONASS卫星导航系统.http://dqs.ndrc.gov.cn/gzdt/P020070329348442417002.doc.
[3]戈文.“伽利略计划”开启导航定位新时代.国防科技,2006,1:6-7.
[4]全球卫星导航系统介绍之五:中国的北斗卫星导航系统.http://dqs.ndrc.gov.cn/gzdt/P020070329349853696075.doc.
[5]范建军.GNSS三频精密测量定位系统的数据处理理论及方法研究.博士学位论文,国防科技大学,2007.
[6]谢世杰,涂国志.星基RTK系统.测绘通报,2004,10:7-10.
[7]李天和,关宗江,谢世杰.RTK概论.地矿测绘,2003,19(2):1-5.
[8]何晓峰.GPS快速精确相对定位技术.硕士学位论文,国防科技大学,2003.
[9]全球卫星导航系统介绍之一:全球卫星导航(定位)系统的发展和前景.http://dqs.ndrc.gov.cn/gzdt/t20070329_124576.htm
[10]王仁谦.GPS动态定位的理论研究.博士学位论文,中南大学,2004.
[11]Mader G L.Rapid static and kinematic global positioning system solutions using the ambiguity function technique.Journal of Geophysical Research,1992,97(B3):3271-3283.
[12]张孟阳.单频GPS载波相位快速精密定位研究.博士学位论文,北京航空航天大学,2000.
[13]Teunissen P J G.Least squares estimation of the integer GPS ambiguities.Invited Lecture,Section Ⅳ Theory and Methodology,IAG General Meeting,Beijing.1993.
[14]Frei E.and Beutler G.Rapid Static Positioning Based on the Fast Ambiguity Resolution Approach " FARA ":Theory and First Results.Manuscripta Geodatica.1990,15(6).
[15]张守信.GPS卫星测量定位理论与应用.长沙:国防科技大学出版社,1996.
[16]王爱朝.GPS动态定位理论研究.博士学位论文,武汉测绘科技大学,1995.
[17]周忠谟,易杰军.GPS卫星测量原理与应用.北京:测绘出版社,1994.
[18]韩少伟.附加约束条件的模糊度函数法及其在GPS相位差分动态定位中的应用.武汉测绘科技大学学报,1994,1.
[19]周朝义.有关GPS RTK差分数据传输技术探讨.全球定位系统,2005.
[20]陈炳超.GPS RTK技术及其在生态环境建设方面的应用研究. http://www.digitalgx.com/article/GP S/gps 10.htm.
[21]李征航,黄劲松.GPS测量与数据处理.武汉:武汉大学出版社,2005.
[22]李天文.GPS原理及应用.北京:科学出版社,2003.
[23]高星伟.GPS/GLONASS网络RTK的算法研究与程序实现.博士学位论文,武汉大学,2002
[24]柴洪洲.动态GPS定位及模糊度参数确定的研究.硕士学位论文,中国人民解放军测绘学院,1999.
[25]陈树新.GPS整周模糊度动态确定的算法及性能研究.博士学位论文,西北工业大学,2002.
[26]李洪涛,许国昌,薛鸿印等.GPS应用程序设计。北京:科学出版社,1999。
[27]Teunissen P J G.A New Method for Fast Carrier Phase Ambiguity Estimation.Proceedings of IEEE PLANS'94,1994:562-573.
[28]王振杰,欧吉坤,柳林涛.单频GPS快速定位中病态问题的解法研究.测绘学报,2005,34(3):196-201.
[29]欧吉坤,王振杰.单频GPS快速定位中模糊度解算的一种新方法.科学通报,2003,48(24):2572-2575.
[30]王振杰.大地测量中不适定问题的正则化解法研究.博士学位论文,中国科学院,2003.
[31]王宏禹.随机数字信号处理.北京:科学出版社,1988.
[32]韩保民.基于星载GPS的低轨卫星几何法定轨理论研究.博士学位论文,中国科学院测量与地球物理研究所,2003.
[33]欧吉坤,王振杰,田爱奎.改进的ARCE方法及其在单频GPS快速定位中的应用.武汉大学学报,2005,30(6):488-492.
[34]Paul de Jonge,Christian Tiberius.The LAMBDA method for integer ambiguity estimation:implementation aspects.LGR-Series Publications of the Delft Geodetic Computing Centre No.12,1996:7-37.
[35]L.T.Liu,H.T.Hsu,Y.Z.Zhu etc.A new approach to GPS ambiguity decorrelation.Journal of Geodesy,1999,73(10):478-490.
[36]Teunissen P J G.The invertible GPS ambiguity transformations.Manuscr Geod,20(6):489-497.
[37]Teunissen P J G,P J de Jonge,C C J M Tiberius.The least-squares ambiguity decorrelation adjustment:its performance on short GPS baselines and short observations spans.Journal of Geodesy,1997,71(10):589-602.
[38]Chris Rizos and Shaowei Han.A New Method for Constructing Multi-satellite Ambiguity Combinations for Improved Ambiguity Resolution[C].Proceedings of ION GPS-95.1995(2):1145-1153.
[39]蔡艳辉,程鹏飞,李夕银.整周模糊度去相关的两种实现方法.测绘工程,2004,12(4):36-38.
[40]美国国家大地测量局.http://www.ngs.noaa.gov.
[41]黄永军.GPS载波相位定位技术研究.硕士学位论文,国防科技大学,1999.
[42]赵莹.GPS快速精准定位算法的研究.硕士学位论文,东北大学,2005.
[2]全球卫星导航系统介绍之三:俄罗斯GLONASS卫星导航系统.http://dqs.ndrc.gov.cn/gzdt/P020070329348442417002.doc.
[3]戈文.“伽利略计划”开启导航定位新时代.国防科技,2006,1:6-7.
[4]全球卫星导航系统介绍之五:中国的北斗卫星导航系统.http://dqs.ndrc.gov.cn/gzdt/P020070329349853696075.doc.
[5]范建军.GNSS三频精密测量定位系统的数据处理理论及方法研究.博士学位论文,国防科技大学,2007.
[6]谢世杰,涂国志.星基RTK系统.测绘通报,2004,10:7-10.
[7]李天和,关宗江,谢世杰.RTK概论.地矿测绘,2003,19(2):1-5.
[8]何晓峰.GPS快速精确相对定位技术.硕士学位论文,国防科技大学,2003.
[9]全球卫星导航系统介绍之一:全球卫星导航(定位)系统的发展和前景.http://dqs.ndrc.gov.cn/gzdt/t20070329_124576.htm
[10]王仁谦.GPS动态定位的理论研究.博士学位论文,中南大学,2004.
[11]Mader G L.Rapid static and kinematic global positioning system solutions using the ambiguity function technique.Journal of Geophysical Research,1992,97(B3):3271-3283.
[12]张孟阳.单频GPS载波相位快速精密定位研究.博士学位论文,北京航空航天大学,2000.
[13]Teunissen P J G.Least squares estimation of the integer GPS ambiguities.Invited Lecture,Section Ⅳ Theory and Methodology,IAG General Meeting,Beijing.1993.
[14]Frei E.and Beutler G.Rapid Static Positioning Based on the Fast Ambiguity Resolution Approach " FARA ":Theory and First Results.Manuscripta Geodatica.1990,15(6).
[15]张守信.GPS卫星测量定位理论与应用.长沙:国防科技大学出版社,1996.
[16]王爱朝.GPS动态定位理论研究.博士学位论文,武汉测绘科技大学,1995.
[17]周忠谟,易杰军.GPS卫星测量原理与应用.北京:测绘出版社,1994.
[18]韩少伟.附加约束条件的模糊度函数法及其在GPS相位差分动态定位中的应用.武汉测绘科技大学学报,1994,1.
[19]周朝义.有关GPS RTK差分数据传输技术探讨.全球定位系统,2005.
[20]陈炳超.GPS RTK技术及其在生态环境建设方面的应用研究. http://www.digitalgx.com/article/GP S/gps 10.htm.
[21]李征航,黄劲松.GPS测量与数据处理.武汉:武汉大学出版社,2005.
[22]李天文.GPS原理及应用.北京:科学出版社,2003.
[23]高星伟.GPS/GLONASS网络RTK的算法研究与程序实现.博士学位论文,武汉大学,2002
[24]柴洪洲.动态GPS定位及模糊度参数确定的研究.硕士学位论文,中国人民解放军测绘学院,1999.
[25]陈树新.GPS整周模糊度动态确定的算法及性能研究.博士学位论文,西北工业大学,2002.
[26]李洪涛,许国昌,薛鸿印等.GPS应用程序设计。北京:科学出版社,1999。
[27]Teunissen P J G.A New Method for Fast Carrier Phase Ambiguity Estimation.Proceedings of IEEE PLANS'94,1994:562-573.
[28]王振杰,欧吉坤,柳林涛.单频GPS快速定位中病态问题的解法研究.测绘学报,2005,34(3):196-201.
[29]欧吉坤,王振杰.单频GPS快速定位中模糊度解算的一种新方法.科学通报,2003,48(24):2572-2575.
[30]王振杰.大地测量中不适定问题的正则化解法研究.博士学位论文,中国科学院,2003.
[31]王宏禹.随机数字信号处理.北京:科学出版社,1988.
[32]韩保民.基于星载GPS的低轨卫星几何法定轨理论研究.博士学位论文,中国科学院测量与地球物理研究所,2003.
[33]欧吉坤,王振杰,田爱奎.改进的ARCE方法及其在单频GPS快速定位中的应用.武汉大学学报,2005,30(6):488-492.
[34]Paul de Jonge,Christian Tiberius.The LAMBDA method for integer ambiguity estimation:implementation aspects.LGR-Series Publications of the Delft Geodetic Computing Centre No.12,1996:7-37.
[35]L.T.Liu,H.T.Hsu,Y.Z.Zhu etc.A new approach to GPS ambiguity decorrelation.Journal of Geodesy,1999,73(10):478-490.
[36]Teunissen P J G.The invertible GPS ambiguity transformations.Manuscr Geod,20(6):489-497.
[37]Teunissen P J G,P J de Jonge,C C J M Tiberius.The least-squares ambiguity decorrelation adjustment:its performance on short GPS baselines and short observations spans.Journal of Geodesy,1997,71(10):589-602.
[38]Chris Rizos and Shaowei Han.A New Method for Constructing Multi-satellite Ambiguity Combinations for Improved Ambiguity Resolution[C].Proceedings of ION GPS-95.1995(2):1145-1153.
[39]蔡艳辉,程鹏飞,李夕银.整周模糊度去相关的两种实现方法.测绘工程,2004,12(4):36-38.
[40]美国国家大地测量局.http://www.ngs.noaa.gov.
[41]黄永军.GPS载波相位定位技术研究.硕士学位论文,国防科技大学,1999.
[42]赵莹.GPS快速精准定位算法的研究.硕士学位论文,东北大学,2005.