GPS激光测距定位系统关键技术研究与实现
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摘要
GPS激光测距定位系统集成了GPS、激光测距仪、三维数字罗盘等模块,以GPS差分定位技术、三维数字罗盘测角功能与激光测距功能为依托,实现快速、主动、实时、大范围、无棱镜辅助的三维空间定位系统。它的优势是在目标点不可接触或难以接触的情况下,仍可对目标点进行定位。
本文阐述了GPS激光测距定位系统的总体设计思路。GPS激光测距定位系统采集GPS数据、激光测距数据、三维数字罗盘数据,由GPS数据解算出流动点的三维坐标,结合激光数据和罗盘数据,以空间交会技术为手段,确定出目标点的三维坐标。
本文的研究工作主要有以下几个方面:
(1)介绍了GPS激光测距定位系统的硬件集成方案,详细论述了各模块组件的构成、特点及功能,介绍了GPS数据、激光测距数据和三维数字罗盘数据的输出格式及提取方法,论述了这三个模块与掌上电脑间的通讯技术。
(2)重点介绍并实现了伪距单点定位和相位平滑伪距单点定位,详细阐述了单点定位的主要误差源,分析了伪距单点定位和相位平滑伪距单点定位各自的定位精度。研究了几种常用的周跳探测修复方法,对这几种方法进行比较,提出了一种适合该系统的周跳探测修复方法,既可以探测出大周跳,也可探测小周跳,并通过实例验证了方法的有效性。
(3)研究了在获取不同测量信息的情况下,利用有效信息对数据质量进行控制及解算出目标点三维坐标的方法。总结了对实时获取数据进行质量控制的方法,给出了实时数据质量控制流程。编程实现了这些方法,分析实例证明了算法的可行性。
The GPS laser ranging and positioning system is mainly composed of GPS, laser range finder and three-dimension digital compass, with the function of three-dimension spacial positioning quickly and actively. And it is real-time work and available in a large range with non-prism assistants. The design concept and its function of the system, together with the structure, characters and function of each module are discussed in detail in this paper. What is more, the data form and its reading methods are given. The communication technology among the three main modules and the computer is discussed in this paper. The coordinates of observation points can be calculated by the GPS laser ranging and positioning system through smoothing pseudoranges point positioning method with GPS data. Then the object point can be calculated by this system through several algorithms, with laser ranging data and three-dimension digital compass data.
This paper mainly focuses on the following three parts:
(1) Study on the composition of GPS laser ranging and positioning system. It discusses in detail the structure, character, and specific function of each module. Meantime, this paper gives the data form of GPS module, laser range finder and three-dimension digital compass.
(2) Focus on the principles of pseudorange point positioning method and smoothing pseudoranges point positioning method, analyze and compare the positioning precision with these two different methods. Discuss the main error sources of pseudorange point positioning method. Put forward a proper cycle-slip processing method, and the result indicates that the cycle-slip can be rapidly and accurately detected and repaired by this method..
(3) Discuss real-time quality control method and real-time data disposal method, develop programs with FORTRAN language to realize these algorithms.
本文阐述了GPS激光测距定位系统的总体设计思路。GPS激光测距定位系统采集GPS数据、激光测距数据、三维数字罗盘数据,由GPS数据解算出流动点的三维坐标,结合激光数据和罗盘数据,以空间交会技术为手段,确定出目标点的三维坐标。
本文的研究工作主要有以下几个方面:
(1)介绍了GPS激光测距定位系统的硬件集成方案,详细论述了各模块组件的构成、特点及功能,介绍了GPS数据、激光测距数据和三维数字罗盘数据的输出格式及提取方法,论述了这三个模块与掌上电脑间的通讯技术。
(2)重点介绍并实现了伪距单点定位和相位平滑伪距单点定位,详细阐述了单点定位的主要误差源,分析了伪距单点定位和相位平滑伪距单点定位各自的定位精度。研究了几种常用的周跳探测修复方法,对这几种方法进行比较,提出了一种适合该系统的周跳探测修复方法,既可以探测出大周跳,也可探测小周跳,并通过实例验证了方法的有效性。
(3)研究了在获取不同测量信息的情况下,利用有效信息对数据质量进行控制及解算出目标点三维坐标的方法。总结了对实时获取数据进行质量控制的方法,给出了实时数据质量控制流程。编程实现了这些方法,分析实例证明了算法的可行性。
The GPS laser ranging and positioning system is mainly composed of GPS, laser range finder and three-dimension digital compass, with the function of three-dimension spacial positioning quickly and actively. And it is real-time work and available in a large range with non-prism assistants. The design concept and its function of the system, together with the structure, characters and function of each module are discussed in detail in this paper. What is more, the data form and its reading methods are given. The communication technology among the three main modules and the computer is discussed in this paper. The coordinates of observation points can be calculated by the GPS laser ranging and positioning system through smoothing pseudoranges point positioning method with GPS data. Then the object point can be calculated by this system through several algorithms, with laser ranging data and three-dimension digital compass data.
This paper mainly focuses on the following three parts:
(1) Study on the composition of GPS laser ranging and positioning system. It discusses in detail the structure, character, and specific function of each module. Meantime, this paper gives the data form of GPS module, laser range finder and three-dimension digital compass.
(2) Focus on the principles of pseudorange point positioning method and smoothing pseudoranges point positioning method, analyze and compare the positioning precision with these two different methods. Discuss the main error sources of pseudorange point positioning method. Put forward a proper cycle-slip processing method, and the result indicates that the cycle-slip can be rapidly and accurately detected and repaired by this method..
(3) Discuss real-time quality control method and real-time data disposal method, develop programs with FORTRAN language to realize these algorithms.
引文
[1]周忠谟,易杰军,周琪. GPS卫星测量原理及应用[M].武汉测绘科技大学出版社1998
[2]魏子卿,葛茂荣. GPS相对定位的数学模型[M].测绘出版社1998
[3]许其凤. GPS卫星导航与精密定位[M].解放军出版社1994
[4]李征航,黄劲松. GPS测量与数据处理[M].武汉大学出版社2005
[5]尤红建,马景芝,刘彤,李树楷.基于GPS、姿态和激光测距的三维遥感直接对地定位[J].遥感学报1998.2
[6]党亚民,秘金钟,成英燕.全球导航卫星系统原理与应用[M].测绘出版社2007
[7]江月松.机载GPS、姿态和激光扫描测距集成定位系统的精确定位方程、误差分析与精度评估[J].遥感学报2001.7
[8]杨成伟,陈千颂.脉冲激光测距时间间隔测量及误差分析[J].激光技术2003.4
[9]莱赛LS206激光测距仪使用手册[M]. LaiSai.
[10]林世祥.激光扫描仪结合GPS/MU在地面三维形状测量中的应用[J].防护林科技2006.3
[11]张力君.基于GPS-OEM的定位信息采集系统的开发[D].吉林大学2006.4
[12] OEMⅤFamily Firmware Reference Manual[M]. NovAtel 2007
[13] OEMⅤFamily Installation and Operation User Manual[M]. NovAtel 2007
[14]王古常,孙斌.军用脉冲激光测距技术与研究现状[J].光学与光电技术2003.10
[15] Vanghn C R,Bufton J L,Krabill W B, Rabin D. Georeferencing of Airborne Laser Altimeter Measurement[J]. Int. J. Remote Sensing 1996(17)
[16] Flood M, Gutelius B. Commercial Implications of Topographic Terrain Mapping Using Scanning Airborne Laser Radar[J]. Photogrammetric Engineering & Remote Sensing 1999(65)
[17]江月松,尤红建,李树楷.机载激光扫描测距仪的误差分析[J].遥感技术与应用1998.6
[18] Thyer N H, Blais J A R, Chapman M A. High Altitude Laser Ranging Over Rugged Terrain[J]. Photogrammetric Engineering and Remote Sensing 1989(55) 559-567
[19]谭显裕.脉冲激光测距仪灵敏度与消光比的研究[J].电子科学学刊1995(17) 154-159
[20] HMR3000 Digital Compass Module User’s Guide[Z]. Honeywell Corp.
[21]蔡艳辉,程鹏飞,丁鹏辉,王华.多通道GPS浮标接收机数据管理[J].测绘科学2008(33) 85-87
[22]蔡艳辉,章传银,王泽民等.差分GPS水下立体定位系统浮标姿态测量[J].测绘科学2005(30) 3
[23]赵毅强,管大年等.电子罗盘在精确定位平台中的应用[J].传感技术学报2005.3
[24]朱璇,周巍,王健.辅助激光测距的共视法站间时间比对[J].测绘工程2009.4
[25]韩保民等.伪随机脉冲估计及其在简化动力学定轨中的应用[J].武汉大学学报:信息科学版2007.10
[26]陈正想,熊莉利.小型化技术与数字磁罗盘的开发[J].水雷战与舰船防护2005
[27] 5700/5800 GPS Receiver User Guide[M]. Trimble.
[28] Ashtech Sagitta Receiver User Manual[M]. Thales.
[29]任凯,章传银,王天文. GPS激光测距动态定位系统的数据采集及管理[J].测绘科学2010(2)
[30]任凯,章传银,王天文.基于Labview的GPS数据采集及处理[J].测绘科学2009(6)
[31]孙二敬.基于LabVIEW的多传感器信息采集平台[D].北京交通大学2007.5
[32]刘泉,姚晓波. GPS双频接收机单点定位算法研究[J].电子器件2007.2
[33]祁芳.卡尔曼滤波算法在GPS非差相位精密单点定位中的应用研究[D].武汉大学2003.
[34] Zumberge J, Heflin M. Precise Point Positioning for the Efficient and Robust Analysis of GPS Data from Large Networks[J]. Journal of Geophysical Research,1997,102(B3):5005～5017
[35] Kouba J. IGS Analysis Activities. IGS Annual Report,IGS Central Bureau,Jet Propulsion Laboratory,Pasadena,1998
[36]刘基余. GPS卫星导航定位原理与方法[M].测绘出版社2003
[37]刘炎雄,周兴华,张卫红,吴永亭. GPS精密单点定位精度分析[J].海洋测绘2005
[38]蔡艳辉,程鹏飞,丁朋辉,王华.多通道GPS浮标接收机数据管理[J].测绘科学2008(33)
[39]王威,隋立芬,符养,刘麦喜.综合利用双频观测值进行周跳的探测与修复[J].海洋测绘2006(26)
[40]生仁军. GPS载波相位定位中周跳探测方法的研究[D].东南大学2006
[41]伍岳.第二代导航卫星系统多频数据处理理论及应用[D].武汉大学2005
[42]韩绍伟. GPS组合观测值理论及应用[J].测绘学报1995(24)
[43]何海波.高精度GPS动态测量及质量控制[D].解放军信息工程大学2002
[44] Bisnath,S. B. and R. B. Langley. A new approach to an old problem:carrier phase cycle slips[J]. GPS World. 2001(12)
[45]丁朋辉,程鹏飞,蔡艳辉,王华,李明.相位求差法与多项式拟合法探测修复周跳的比较[J].测绘工程2009(1)
[46] Schaffrin, B., and Y. Bock. A unified scheme for processing GPS phase observations[J]. Bulletin Geodesique 1988(62)
[47]龚佑兴. GPS单点定位研究[D].东南大学2004
[48]陈小明.高精度GPS动态定位的理论与实践[D].武汉测绘科技大学地测学院1997
[49]刘经南,叶世榕. GPS非差相位精密单点定位技术探讨[J].武汉大学学报.信息科学版2002(27)
[50]王帅,张立新.载波相位平滑伪距测距技术研究[J]空间电子技术2008(4)
[51]沈国康,张乾隆,汪平.相位平滑P1码伪距及其单点定位精度分析[J]测绘工程2009.12
[52]焦海松,杨海强,马国元,罗兆文.载波相位平滑伪距单点定位精度分析[J]全球定位系统2009.4
[2]魏子卿,葛茂荣. GPS相对定位的数学模型[M].测绘出版社1998
[3]许其凤. GPS卫星导航与精密定位[M].解放军出版社1994
[4]李征航,黄劲松. GPS测量与数据处理[M].武汉大学出版社2005
[5]尤红建,马景芝,刘彤,李树楷.基于GPS、姿态和激光测距的三维遥感直接对地定位[J].遥感学报1998.2
[6]党亚民,秘金钟,成英燕.全球导航卫星系统原理与应用[M].测绘出版社2007
[7]江月松.机载GPS、姿态和激光扫描测距集成定位系统的精确定位方程、误差分析与精度评估[J].遥感学报2001.7
[8]杨成伟,陈千颂.脉冲激光测距时间间隔测量及误差分析[J].激光技术2003.4
[9]莱赛LS206激光测距仪使用手册[M]. LaiSai.
[10]林世祥.激光扫描仪结合GPS/MU在地面三维形状测量中的应用[J].防护林科技2006.3
[11]张力君.基于GPS-OEM的定位信息采集系统的开发[D].吉林大学2006.4
[12] OEMⅤFamily Firmware Reference Manual[M]. NovAtel 2007
[13] OEMⅤFamily Installation and Operation User Manual[M]. NovAtel 2007
[14]王古常,孙斌.军用脉冲激光测距技术与研究现状[J].光学与光电技术2003.10
[15] Vanghn C R,Bufton J L,Krabill W B, Rabin D. Georeferencing of Airborne Laser Altimeter Measurement[J]. Int. J. Remote Sensing 1996(17)
[16] Flood M, Gutelius B. Commercial Implications of Topographic Terrain Mapping Using Scanning Airborne Laser Radar[J]. Photogrammetric Engineering & Remote Sensing 1999(65)
[17]江月松,尤红建,李树楷.机载激光扫描测距仪的误差分析[J].遥感技术与应用1998.6
[18] Thyer N H, Blais J A R, Chapman M A. High Altitude Laser Ranging Over Rugged Terrain[J]. Photogrammetric Engineering and Remote Sensing 1989(55) 559-567
[19]谭显裕.脉冲激光测距仪灵敏度与消光比的研究[J].电子科学学刊1995(17) 154-159
[20] HMR3000 Digital Compass Module User’s Guide[Z]. Honeywell Corp.
[21]蔡艳辉,程鹏飞,丁鹏辉,王华.多通道GPS浮标接收机数据管理[J].测绘科学2008(33) 85-87
[22]蔡艳辉,章传银,王泽民等.差分GPS水下立体定位系统浮标姿态测量[J].测绘科学2005(30) 3
[23]赵毅强,管大年等.电子罗盘在精确定位平台中的应用[J].传感技术学报2005.3
[24]朱璇,周巍,王健.辅助激光测距的共视法站间时间比对[J].测绘工程2009.4
[25]韩保民等.伪随机脉冲估计及其在简化动力学定轨中的应用[J].武汉大学学报:信息科学版2007.10
[26]陈正想,熊莉利.小型化技术与数字磁罗盘的开发[J].水雷战与舰船防护2005
[27] 5700/5800 GPS Receiver User Guide[M]. Trimble.
[28] Ashtech Sagitta Receiver User Manual[M]. Thales.
[29]任凯,章传银,王天文. GPS激光测距动态定位系统的数据采集及管理[J].测绘科学2010(2)
[30]任凯,章传银,王天文.基于Labview的GPS数据采集及处理[J].测绘科学2009(6)
[31]孙二敬.基于LabVIEW的多传感器信息采集平台[D].北京交通大学2007.5
[32]刘泉,姚晓波. GPS双频接收机单点定位算法研究[J].电子器件2007.2
[33]祁芳.卡尔曼滤波算法在GPS非差相位精密单点定位中的应用研究[D].武汉大学2003.
[34] Zumberge J, Heflin M. Precise Point Positioning for the Efficient and Robust Analysis of GPS Data from Large Networks[J]. Journal of Geophysical Research,1997,102(B3):5005～5017
[35] Kouba J. IGS Analysis Activities. IGS Annual Report,IGS Central Bureau,Jet Propulsion Laboratory,Pasadena,1998
[36]刘基余. GPS卫星导航定位原理与方法[M].测绘出版社2003
[37]刘炎雄,周兴华,张卫红,吴永亭. GPS精密单点定位精度分析[J].海洋测绘2005
[38]蔡艳辉,程鹏飞,丁朋辉,王华.多通道GPS浮标接收机数据管理[J].测绘科学2008(33)
[39]王威,隋立芬,符养,刘麦喜.综合利用双频观测值进行周跳的探测与修复[J].海洋测绘2006(26)
[40]生仁军. GPS载波相位定位中周跳探测方法的研究[D].东南大学2006
[41]伍岳.第二代导航卫星系统多频数据处理理论及应用[D].武汉大学2005
[42]韩绍伟. GPS组合观测值理论及应用[J].测绘学报1995(24)
[43]何海波.高精度GPS动态测量及质量控制[D].解放军信息工程大学2002
[44] Bisnath,S. B. and R. B. Langley. A new approach to an old problem:carrier phase cycle slips[J]. GPS World. 2001(12)
[45]丁朋辉,程鹏飞,蔡艳辉,王华,李明.相位求差法与多项式拟合法探测修复周跳的比较[J].测绘工程2009(1)
[46] Schaffrin, B., and Y. Bock. A unified scheme for processing GPS phase observations[J]. Bulletin Geodesique 1988(62)
[47]龚佑兴. GPS单点定位研究[D].东南大学2004
[48]陈小明.高精度GPS动态定位的理论与实践[D].武汉测绘科技大学地测学院1997
[49]刘经南,叶世榕. GPS非差相位精密单点定位技术探讨[J].武汉大学学报.信息科学版2002(27)
[50]王帅,张立新.载波相位平滑伪距测距技术研究[J]空间电子技术2008(4)
[51]沈国康,张乾隆,汪平.相位平滑P1码伪距及其单点定位精度分析[J]测绘工程2009.12
[52]焦海松,杨海强,马国元,罗兆文.载波相位平滑伪距单点定位精度分析[J]全球定位系统2009.4