GPS精密单点定位解算方法的研究及其应用
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摘要
精密单点定位技术指的是利用全球若干地面跟踪站的GPS观测数据解算出的精密卫星轨道和精密卫星钟差,对单台GPS接收机所采集的伪距和载波相位观测数据进行定位解算的方法。在进行精密单点定位时,除了能解算出测站的坐标外,还可以解算出接收机钟差、对流层天顶延迟等参数,这些结果可以满足不同用户的需要。因此,精密单点定位技术有着广阔的应用前景。
本文详细的介绍了精密单点定位理论,并研究了与其相关的部分关键问题。本文主要研究内容如下：
1、非差观测值观测方程及其误差源
介绍了非差观测值观测方程,并讨论了精密单点定位中主要误差源,包括卫星轨道误差、卫星钟差、对流层延迟、电离层延迟、接收机钟差和多路径效应等,以及消除或消弱其影响的方法。
2、精密单点定位的处理方法
在精密单点定位无电离层组合观测方程的基础上,探讨了精密单点定位相关数据的处理问题,包括非差数据预处理、参数估计方法等。最后结合数据进行了精密单点定位的结果分析,取得了厘米级的静态定位精度。该精度与国内外一些的研究结果相当。
3、精密单点定位的气象学应用
利用精密单点定位数据处理软件Trip估算得到对流层天顶延迟参数,并与IGS提供的对流层延迟产品进行比较。结果表明,利用精密单点定位技术可以估算得到毫米级的对流层天顶延迟。同时,介绍了可降水量的估算过程,并选取了测站单月的观测数据进行可降水量的研究,得出可降水量与探空观测资料具有较好的一致性。
Precise Point Positioning refers to the method of using the observation data from global GPS Tracking Station to calculate out Precise Satellite Orbit and Precise Satellite Clock Error and then using the collected observation data from Pseudorange and Carrier Phase by a single piece of GPS receiver to obtain the solution. By means of Precise point Positioning, we can calculate the receiver clock error, troposphere zenith delay parameters besides the coordinate of outside stations,which can satisfy the needs of different users. Therefore, the Precise Point Positioning technology has a bright prospect.
This paper introduces the Precise Point Positioning Theory, and then does research on some key problems about Precise Point Positioning.
It mainly studies as follows:
1. Un-differenced observation equation and its error source This paper introduces un-differenced observation equation and discusses the main error sources in Precise Point Positioning, including satellite orbit error, satellite clock error,troposphere delay,ionosphere delay, receiver clock correction and multipath effect etc.It aslo discusses the method of eliminating or weakening those effects.
2.Processing methods of Precise Point Positioning Based on the observed equation of Ionosphere-free Combination in the Precise Point Positioning,this paper discusses the related data processing problems, including un-differenced base pretreatment, parameter estimation method, etc.And then it obtains the analysis of results from the data and the static positon accuracy at cm level. This accuracy are quite comparable with the results from both the domestic and foreign countries.
3.Meteorological application of Precise Point Positioning Compare tropospheric zenith delay parameter estimated from Precise Point Positioning technology with the troposphere delay products provided by IGS. The results indicate that by using the Precise Point Positioning technology, we can estimate tropospheric zenith delay at millimeter level. At the same time, this paper introduces the process of precipitable water vapor and selects the observed monthly data from stations to do the reasearch on water vapor, and, lastly, concudes that precipitable water vapor and the observated data from the radio sonding are of good consistency.
本文详细的介绍了精密单点定位理论,并研究了与其相关的部分关键问题。本文主要研究内容如下：
1、非差观测值观测方程及其误差源
介绍了非差观测值观测方程,并讨论了精密单点定位中主要误差源,包括卫星轨道误差、卫星钟差、对流层延迟、电离层延迟、接收机钟差和多路径效应等,以及消除或消弱其影响的方法。
2、精密单点定位的处理方法
在精密单点定位无电离层组合观测方程的基础上,探讨了精密单点定位相关数据的处理问题,包括非差数据预处理、参数估计方法等。最后结合数据进行了精密单点定位的结果分析,取得了厘米级的静态定位精度。该精度与国内外一些的研究结果相当。
3、精密单点定位的气象学应用
利用精密单点定位数据处理软件Trip估算得到对流层天顶延迟参数,并与IGS提供的对流层延迟产品进行比较。结果表明,利用精密单点定位技术可以估算得到毫米级的对流层天顶延迟。同时,介绍了可降水量的估算过程,并选取了测站单月的观测数据进行可降水量的研究,得出可降水量与探空观测资料具有较好的一致性。
Precise Point Positioning refers to the method of using the observation data from global GPS Tracking Station to calculate out Precise Satellite Orbit and Precise Satellite Clock Error and then using the collected observation data from Pseudorange and Carrier Phase by a single piece of GPS receiver to obtain the solution. By means of Precise point Positioning, we can calculate the receiver clock error, troposphere zenith delay parameters besides the coordinate of outside stations,which can satisfy the needs of different users. Therefore, the Precise Point Positioning technology has a bright prospect.
This paper introduces the Precise Point Positioning Theory, and then does research on some key problems about Precise Point Positioning.
It mainly studies as follows:
1. Un-differenced observation equation and its error source This paper introduces un-differenced observation equation and discusses the main error sources in Precise Point Positioning, including satellite orbit error, satellite clock error,troposphere delay,ionosphere delay, receiver clock correction and multipath effect etc.It aslo discusses the method of eliminating or weakening those effects.
2.Processing methods of Precise Point Positioning Based on the observed equation of Ionosphere-free Combination in the Precise Point Positioning,this paper discusses the related data processing problems, including un-differenced base pretreatment, parameter estimation method, etc.And then it obtains the analysis of results from the data and the static positon accuracy at cm level. This accuracy are quite comparable with the results from both the domestic and foreign countries.
3.Meteorological application of Precise Point Positioning Compare tropospheric zenith delay parameter estimated from Precise Point Positioning technology with the troposphere delay products provided by IGS. The results indicate that by using the Precise Point Positioning technology, we can estimate tropospheric zenith delay at millimeter level. At the same time, this paper introduces the process of precipitable water vapor and selects the observed monthly data from stations to do the reasearch on water vapor, and, lastly, concudes that precipitable water vapor and the observated data from the radio sonding are of good consistency.
引文
[1]http://www.igs.org/network/complete.html
[2]http://www.igs.org/components/prods.html
[3]Zumberge J, Heflin M, Jeffereson D, Watkins M and Webb F. Precise point Positioning for the efficient and rpbust analysis of GPS date from large Networks [J]. Journal of Geophysical Research,1997,102(B3):5005-5017.
[4]Kouba J, Herous H. Precise point positioning using IGS orbit and clock products [J]. GPS Solutions,2001,5(2):12-28.
[5]Gao Y, Shen X. Improving Ambbiguity Convergence in Carrier Phase Based Precise Point Position [M]. Proceedings of ION National Technical Meeting,2001.
[6]Gao Y, Shen X. A New Method Of Carrier Phase Based Percise Point Position [J]. Journal of the institute of navgation,2002, Vol.49, No.2.
[7]Gao Y, Chen K, Shen X. Real-Time Kinematic Positioning Based on Un-Differenced Carrier Phase Date Processing [M]. Proceedings of ION National Technical Meeting, Anaheim, California,2003.
[8]Abdel-salam M. Precise Point Positioning Using Un-Differenced Code and Carrier Phase Observations [D]. Canada: University of Calgary,2005.
[9]Han S C, Kwon J H, Jekeli C. Accurate Absolute GPS Positioning Through Satellite Clock Error Estimation [J]. Journal of Geodesy,2001,77:33-43.
[10]Leandro R F. Precise Point Positioning with GPS:A New Approach for Positioning, Atmospheric Studies, And Signal Analysis [D]. Canada: University of New Brunswick,2009.
[11]U.Hugentobler, S.Schaer, P.Fridez. Bernese GPS Software Version4.2,2001.
[12]严豪健,朱文耀,黄珹.上海天文台GPS气象学的研究现状[M].北京：气象出版社,2009.
[13]叶世榕.GPS非差相位精密单点定位理论与实现[D].武汉：武汉大学,2002.
[14]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,信息科技版,2002,27(3)：234-240.
[15]张小红.动态精密单点定位(PPP)的精度分析[J].全球定位系统,2006,31(1)：7-11.
[16]Zhang X H, Anderson O B. Surface ice flow velocity and tide retrieval of the Amery ice shelf using precise point positioning [M]. Journal of Geodesy,2006,80(4):171-176.
[17]Zhang X H, Forsberg R. Assessment of long-range kinematic GPS positioning errors by comparison with airborne laser altimetry and satellite altimetry [M]. Journal of Geodesy, 2007,81(3):201-211.
[18]耿涛,赵齐乐,刘经南等.基于PANDA软件的实时精密单点定位研究[J].武汉大学学报,信息科技版,2007,32(4)：312-315.
[19]陈义.精密单点定位的基本原理和应用[J].同济大学学报.2006,34(7)：919-923.
[20]魏子卿,葛茂荣.GPS相对定位的数学模型[M].北京：测绘出版社.1998.
[21]李征航,黄劲松.GPS原理与应用[M].武汉：武汉大学出版社.2005.
[22]李征航,张小红.卫星导航定位新技术及高精度数据处理方法[M].武汉：武汉大学出版社,2009.
[23]Herous P, Kouba J, Collons P, et al. GPS Carrier phase Point Positioning with Precise Oribit Products. The International Symposium on Kinematic Systems in Geodesy[J], Geomatics and Navigation, Calgary,2001.
[24]陈兆林,张书毕,佟瑞菊.用拉格朗日多项式内插计算GPS卫星位置[J].全球定位系统.2007,32(2)：33-35.
[25]邱蕾,廖远琴,花向红.基于IGS精密星历的卫星坐标插值[J].测绘工程.2008,17(4)：15-24.
[26]李庆扬,王能超,易大义.数值分析[M].武汉：华中科技大学出版社,2005.
[27]张德丰. MATLAB数值分析与应用[M].北京：国防工业出版社,2009.
[28]ftp://igscb.jpl.nasa.gov/igscb/station/general/
[29]党亚明,秘金钟,成英燕.全球导航卫星系统原理与应用[M].北京：测绘出版社,2007.
[30]程鹏飞,蔡艳辉,文汉江等.全球卫星导航系统：GPS, GLONASS, Glaileo及其他系统[M].北京：测绘出版社,2009.
[31]刘基余,李征航,王跃虎等.全球定位系统原理及其应用[M].北京：测绘出版社,1999.
[32]丁金才.GPS气象学及其应用[M].北京：气象出版社,2009.
[33]Niell A E. Global mapping function for the atmosphere delay at radio wavelengths[J]. Geophys,1996,101(B2):3227-3246.
[34]Niell A E. Improved atmospheric mapping function for VLBI and GPS[J]. Earth Planets and space,2000,52(10):699-702.
[35]KOUBA J, HEROUX P. GPS Precise Point Positioning Using IGS Orbit Products[J]. GPS Solution,2001,5(2):12-28.
[36]杨俊,武奇生. GPSJ基本原理及其Matlab仿真[M].陕西：西安电子科技大学出版社,2006.
[37]刘志强,黄张裕,金建平.利用卫星高度角和信噪比提高GPS定位精度的试验分析[J].测绘工程.2008,17(4)：54-58.
[38]Blewitt G. An Automatic Editing. Algorithm for GPS Date[J]. Geophysical Research Lettters, 1990,17(3):199-202
[39]郑作亚,程宗颐,黄珹等.对Blewitt周跳探测与修复方法的改进[J].天文学报,2005,46(2)：216-224.
[40]王敬,赵军祥. Blewitt周跳探测方法的改进[J].飞行器测控学报,2011,30(2)：80-83.
[41]武汉大学测绘学院测量平差学科组.误差理论与测量平差基础[M].武汉：武汉大学出版社,2009.
[42]鲁郁.GPS全球定位接收机-原理与软件实现[M]。北京：电子工业出版社,2009.
[43]秦显平,韩保民.附有动力学信息的星载GPS运动学定轨[J].测绘科学与工程,2005,23(1)：1392-1397.
[44]杨元喜,何海波.GPS动态测量中模糊度实数解的序贯最小二乘估计[J].测绘科学与工程,2005,25(1)：1-4.
[45]杨元喜.自适应动态导航定位[M].北京：测绘出版社,2006.
[46]周建兴,岂兴明,矫津毅等. MATLAB从入门到精通[M].北京：人民邮电出版社,2010.
[47]李洪涛,许国昌,薛鸿印等.GPS应用程序设计[M].北京：科技出版社,2009.
[48]曹云昌,方宗义,夏青等.地基GPS气象站网建设指南[M].北京：气象出版社,2007.
[49]Bar-Sever YE, Kroger PM, Borjesson JA. Estimating Horizontal Gradients of Tropospheric Path Delay with a Single GPS Receiver[J]. Journal of Geophysical Research,1998, 103(B3):5019-5035.
[50]Abdel-salam M, Gao Y. Precise GPS Atmosphere Sensing Based on Un-Differenced Observations[J]. Proceedings of ION National Technical Meeting, Long Beach, Californa, 2004.
[51]Leandro R. F, Santos M C and Langley R. B. PPP-based Ionospheric Activity Monitoring[J]. Proceedings of ION National Technical Meeting, Fort Worth, Texas,2007.
[52]李玮.GPS精密单点定位算法研究与软件实现[D].北京：中国测绘科学研究院,2010.
[53]曲建光.GPS遥感气象要素的理论与应用研究[D].武汉：武汉大学,2005.
[54]Bevis M, Businger S, Herring T A, Rocken C, Anthes R A, Ware R H. GPS Meteorology: Romote Sensing of Atomospheric Water Vapor Using the Global Positioning System[J]. Journal of Geophysical Research,1992,87(D14):15787-15801.
[2]http://www.igs.org/components/prods.html
[3]Zumberge J, Heflin M, Jeffereson D, Watkins M and Webb F. Precise point Positioning for the efficient and rpbust analysis of GPS date from large Networks [J]. Journal of Geophysical Research,1997,102(B3):5005-5017.
[4]Kouba J, Herous H. Precise point positioning using IGS orbit and clock products [J]. GPS Solutions,2001,5(2):12-28.
[5]Gao Y, Shen X. Improving Ambbiguity Convergence in Carrier Phase Based Precise Point Position [M]. Proceedings of ION National Technical Meeting,2001.
[6]Gao Y, Shen X. A New Method Of Carrier Phase Based Percise Point Position [J]. Journal of the institute of navgation,2002, Vol.49, No.2.
[7]Gao Y, Chen K, Shen X. Real-Time Kinematic Positioning Based on Un-Differenced Carrier Phase Date Processing [M]. Proceedings of ION National Technical Meeting, Anaheim, California,2003.
[8]Abdel-salam M. Precise Point Positioning Using Un-Differenced Code and Carrier Phase Observations [D]. Canada: University of Calgary,2005.
[9]Han S C, Kwon J H, Jekeli C. Accurate Absolute GPS Positioning Through Satellite Clock Error Estimation [J]. Journal of Geodesy,2001,77:33-43.
[10]Leandro R F. Precise Point Positioning with GPS:A New Approach for Positioning, Atmospheric Studies, And Signal Analysis [D]. Canada: University of New Brunswick,2009.
[11]U.Hugentobler, S.Schaer, P.Fridez. Bernese GPS Software Version4.2,2001.
[12]严豪健,朱文耀,黄珹.上海天文台GPS气象学的研究现状[M].北京：气象出版社,2009.
[13]叶世榕.GPS非差相位精密单点定位理论与实现[D].武汉：武汉大学,2002.
[14]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,信息科技版,2002,27(3)：234-240.
[15]张小红.动态精密单点定位(PPP)的精度分析[J].全球定位系统,2006,31(1)：7-11.
[16]Zhang X H, Anderson O B. Surface ice flow velocity and tide retrieval of the Amery ice shelf using precise point positioning [M]. Journal of Geodesy,2006,80(4):171-176.
[17]Zhang X H, Forsberg R. Assessment of long-range kinematic GPS positioning errors by comparison with airborne laser altimetry and satellite altimetry [M]. Journal of Geodesy, 2007,81(3):201-211.
[18]耿涛,赵齐乐,刘经南等.基于PANDA软件的实时精密单点定位研究[J].武汉大学学报,信息科技版,2007,32(4)：312-315.
[19]陈义.精密单点定位的基本原理和应用[J].同济大学学报.2006,34(7)：919-923.
[20]魏子卿,葛茂荣.GPS相对定位的数学模型[M].北京：测绘出版社.1998.
[21]李征航,黄劲松.GPS原理与应用[M].武汉：武汉大学出版社.2005.
[22]李征航,张小红.卫星导航定位新技术及高精度数据处理方法[M].武汉：武汉大学出版社,2009.
[23]Herous P, Kouba J, Collons P, et al. GPS Carrier phase Point Positioning with Precise Oribit Products. The International Symposium on Kinematic Systems in Geodesy[J], Geomatics and Navigation, Calgary,2001.
[24]陈兆林,张书毕,佟瑞菊.用拉格朗日多项式内插计算GPS卫星位置[J].全球定位系统.2007,32(2)：33-35.
[25]邱蕾,廖远琴,花向红.基于IGS精密星历的卫星坐标插值[J].测绘工程.2008,17(4)：15-24.
[26]李庆扬,王能超,易大义.数值分析[M].武汉：华中科技大学出版社,2005.
[27]张德丰. MATLAB数值分析与应用[M].北京：国防工业出版社,2009.
[28]ftp://igscb.jpl.nasa.gov/igscb/station/general/
[29]党亚明,秘金钟,成英燕.全球导航卫星系统原理与应用[M].北京：测绘出版社,2007.
[30]程鹏飞,蔡艳辉,文汉江等.全球卫星导航系统：GPS, GLONASS, Glaileo及其他系统[M].北京：测绘出版社,2009.
[31]刘基余,李征航,王跃虎等.全球定位系统原理及其应用[M].北京：测绘出版社,1999.
[32]丁金才.GPS气象学及其应用[M].北京：气象出版社,2009.
[33]Niell A E. Global mapping function for the atmosphere delay at radio wavelengths[J]. Geophys,1996,101(B2):3227-3246.
[34]Niell A E. Improved atmospheric mapping function for VLBI and GPS[J]. Earth Planets and space,2000,52(10):699-702.
[35]KOUBA J, HEROUX P. GPS Precise Point Positioning Using IGS Orbit Products[J]. GPS Solution,2001,5(2):12-28.
[36]杨俊,武奇生. GPSJ基本原理及其Matlab仿真[M].陕西：西安电子科技大学出版社,2006.
[37]刘志强,黄张裕,金建平.利用卫星高度角和信噪比提高GPS定位精度的试验分析[J].测绘工程.2008,17(4)：54-58.
[38]Blewitt G. An Automatic Editing. Algorithm for GPS Date[J]. Geophysical Research Lettters, 1990,17(3):199-202
[39]郑作亚,程宗颐,黄珹等.对Blewitt周跳探测与修复方法的改进[J].天文学报,2005,46(2)：216-224.
[40]王敬,赵军祥. Blewitt周跳探测方法的改进[J].飞行器测控学报,2011,30(2)：80-83.
[41]武汉大学测绘学院测量平差学科组.误差理论与测量平差基础[M].武汉：武汉大学出版社,2009.
[42]鲁郁.GPS全球定位接收机-原理与软件实现[M]。北京：电子工业出版社,2009.
[43]秦显平,韩保民.附有动力学信息的星载GPS运动学定轨[J].测绘科学与工程,2005,23(1)：1392-1397.
[44]杨元喜,何海波.GPS动态测量中模糊度实数解的序贯最小二乘估计[J].测绘科学与工程,2005,25(1)：1-4.
[45]杨元喜.自适应动态导航定位[M].北京：测绘出版社,2006.
[46]周建兴,岂兴明,矫津毅等. MATLAB从入门到精通[M].北京：人民邮电出版社,2010.
[47]李洪涛,许国昌,薛鸿印等.GPS应用程序设计[M].北京：科技出版社,2009.
[48]曹云昌,方宗义,夏青等.地基GPS气象站网建设指南[M].北京：气象出版社,2007.
[49]Bar-Sever YE, Kroger PM, Borjesson JA. Estimating Horizontal Gradients of Tropospheric Path Delay with a Single GPS Receiver[J]. Journal of Geophysical Research,1998, 103(B3):5019-5035.
[50]Abdel-salam M, Gao Y. Precise GPS Atmosphere Sensing Based on Un-Differenced Observations[J]. Proceedings of ION National Technical Meeting, Long Beach, Californa, 2004.
[51]Leandro R. F, Santos M C and Langley R. B. PPP-based Ionospheric Activity Monitoring[J]. Proceedings of ION National Technical Meeting, Fort Worth, Texas,2007.
[52]李玮.GPS精密单点定位算法研究与软件实现[D].北京：中国测绘科学研究院,2010.
[53]曲建光.GPS遥感气象要素的理论与应用研究[D].武汉：武汉大学,2005.
[54]Bevis M, Businger S, Herring T A, Rocken C, Anthes R A, Ware R H. GPS Meteorology: Romote Sensing of Atomospheric Water Vapor Using the Global Positioning System[J]. Journal of Geophysical Research,1992,87(D14):15787-15801.