卫星导航用户设备测试方法与场景设计研究
摘要
随着卫星导航技术应用深度和广度的不断发展,尤其是伴随着我国导航系统的迅猛发展,用户对卫星导航用户设备的软硬件需求在日益提高,建立一套严格的测试规范来科学准确的评价接收机的工作性能具有重要意义。本文主要完成了对卫星导航基本型接收机各项性能的测试方法研究,并在此基础上,开发了一个测试场景设计软件平台,模拟产生了一系列可供卫星导航用户设备测试使用的场景模版,为进一步实现接收机的物理测试提供了较好的理论依据和数据基础。
本文首先介绍了用户机测试系统的组成及工作原理,同时以基本型用户机为例,认真分析了接收机的工作原理,进而针对接收机的误码率、伪距测量精度、多通道时延一致性、首捕与重捕时间、首次定位时间、定位/测速精度、动态性能、抗干扰性等多项性能指标,研究并提出了相应的测试方法,经实际测试验证,方法具有较好的实用性和可行性。其次,基于测试系统模拟用户机真实工作环境的需要,文中对测试场景的设计进行了分析与研究,综合考虑了星座结构、用户轨迹以及各种误差因素对接收机工作性能的影响,设计了能较为科学的衡量接收机工作性能的场景模版。最后,基于所构建的数学模型,在Windows平台下,使用C#.NET开发了用户机测试场景设计软件平台。
With the development of the GNSS technology, especially with the development of China CNSS, the applications are tremendously made in many fields, this leads to more and more good performances requirements both in hardware and software for navigation equipments. Thus it is of high significance to establish a stringent test standards to evaluate the performance of the receivers scientifically and accurately. This thesis presented the methods for basic receiver test, based on it, a platform for test scene designation was developed, several scene templates which can be used for user equipment test were simulated and generated. Our work provides theoretical basis and data foundations for further realization of receivers physical test.
This thesis introduced the components and functional principles of the user receiver test system, as a example of basic user receiver, analyzed the principle of the receivers, then considering the receiver bit error rate, pseudo range measurement accuracy, consistency of multi-channel delay, time delay for acquisition and re-acquisition, time for first positioning, position/velocity precision, dynamical performance and anti-interference, etc. We developed test methods corresponding to these different aspects. The methods have good availability and feasibility based on real data test result. For the needs of truly working environment simulation of receivers, designation of test scene was analyzed and studied. Considering the effects of satellite constellation, user trajectory and many kinds of error source on receiver working performance, scene templates which can evaluate the receiver performance were developed. Last but not least, based on the mathematical model created in the thesis, user receiver test scene designation platform was developed with C#.NET as design language, under Windows operation system.
本文首先介绍了用户机测试系统的组成及工作原理,同时以基本型用户机为例,认真分析了接收机的工作原理,进而针对接收机的误码率、伪距测量精度、多通道时延一致性、首捕与重捕时间、首次定位时间、定位/测速精度、动态性能、抗干扰性等多项性能指标,研究并提出了相应的测试方法,经实际测试验证,方法具有较好的实用性和可行性。其次,基于测试系统模拟用户机真实工作环境的需要,文中对测试场景的设计进行了分析与研究,综合考虑了星座结构、用户轨迹以及各种误差因素对接收机工作性能的影响,设计了能较为科学的衡量接收机工作性能的场景模版。最后,基于所构建的数学模型,在Windows平台下,使用C#.NET开发了用户机测试场景设计软件平台。
With the development of the GNSS technology, especially with the development of China CNSS, the applications are tremendously made in many fields, this leads to more and more good performances requirements both in hardware and software for navigation equipments. Thus it is of high significance to establish a stringent test standards to evaluate the performance of the receivers scientifically and accurately. This thesis presented the methods for basic receiver test, based on it, a platform for test scene designation was developed, several scene templates which can be used for user equipment test were simulated and generated. Our work provides theoretical basis and data foundations for further realization of receivers physical test.
This thesis introduced the components and functional principles of the user receiver test system, as a example of basic user receiver, analyzed the principle of the receivers, then considering the receiver bit error rate, pseudo range measurement accuracy, consistency of multi-channel delay, time delay for acquisition and re-acquisition, time for first positioning, position/velocity precision, dynamical performance and anti-interference, etc. We developed test methods corresponding to these different aspects. The methods have good availability and feasibility based on real data test result. For the needs of truly working environment simulation of receivers, designation of test scene was analyzed and studied. Considering the effects of satellite constellation, user trajectory and many kinds of error source on receiver working performance, scene templates which can evaluate the receiver performance were developed. Last but not least, based on the mathematical model created in the thesis, user receiver test scene designation platform was developed with C#.NET as design language, under Windows operation system.
引文
[1]许其凤.空间大地测量学[M].北京:解放军出版社,2001.
[2]刘基余.GPS卫星导航定位原理与方法[M].北京:科学出版社,2003.
[3]黄智伟.GPS接收机电路设计[M].北京:国防工业出版社,2006.
[4]王惠南.GPS导航原理与应用[M].北京:科学出版社,2003.
[5]EllioR D.Kaplan.GPS原理与应用[M].北京:电子工业出版社,2007.
[6]周忠谟,易杰军等.GPS卫星测量原理与应用[M].北京:测绘出版社,1997.
[7]袁建平,方群,郑谔.GPS在飞行器定位导航中的应用[M].西安:西北工业大学出版社,2000.
[8]Vladimir A.Chobotov.航天器的姿态动力学与控制[M].北京:航空工业出版社,1992.
[9]赵亦林.车辆定位与导航系统[M].北京:电子工业出版社,1999.
[10]李明峰,冯宝红,刘三枝.GPS定位技术及其应用[M].北京:国防工业出版社,2006.
[11]李洪涛,许国昌,薛鸿印等.GPS应用程序设计[M].北京:科学出版社,1999.
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[13]王解先.GPS精密定轨定位[M].上海,同济大学出版社,1997.
[14]John Sharp.Visual C#2005从入门到精通[M].北京:清华大学出版社,2006.
[15]Jesse Liberty.C#程序设计[M].北京:中国电力出版社,2002.
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[17]张亮.GPS导航定位算法研究[D].西安:西北工业大学,2007.
[18]金富钊.GPS中的环路跟踪算法的研究[D].西安:西安电子科技大学,2006.
[19]赵军祥.高动态GPS卫星信号模拟器数学模型研究[D].北京:北京航空航天大学,2004.
[20]杜兰.GEO卫星精密定轨技术研究[D].郑州:解放军信息工程大学,2006.
[21]郑亚弟.导航载体轨迹仿真系统的研究与开发[D].郑州:解放军信息工程大学测绘学院,2006.
[22]国家测绘局.全球定位系统(GPS)测量规范[S].北京:测绘出版社,1992.
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[25]窦云,张文明,陈军.GPS接收机抗干扰性能分析[J].北京:兵工自动化,2006,25(2):50-52.
[26]深圳市华颖锐兴科技有限公司.GPS接收机的灵敏度分析[C].
[27]廖超明,谭庆林等.GPS接收机检定原理及检定数据自动化处理思路探讨[J].北京:测绘通报,2007,2:11-13.
[28]戴水财等.GPS接收机内噪声水平的评价与检测方法[J].北京:测绘科学,2007,32(5):18-20.
[29]尹继尧等.对GPS接收机测试评估的探讨[J].北京:地震地磁观测与研究,2005,26(6):99-104.
[30]孙进芳 等.量化对GPS接收机捕获性能影响研究[J].北京:航空电子技术,2007,38(3):1-4.
[31]朱新慧,王刃.卫星导航接收机测距精度评价方法研究[J].北京:全球定位系统,2007,5.
[32]何海波.高精度GPS动态测量及质量控制[D].郑州:解放军信息工程大学测绘学院,2002.
[33]程炳华.一种高灵敏度GPS接收机的设计[J].西安:现代电子技术,2006,29(8):103-107.
[34]王甫红,刘基余.星载GPS伪距测量数据质量分析[J].郑州:测绘科学技术学报,2007,24(2):97-99.
[35]王存良.GPS定位和测速的结算过程[J].郑州:电光系统,2003,(1):13-17.
[36]陈晓丽,付平,朱启仁.载波相位GPS接收机可靠性分配与估计[J].西安:导航,2005,41(4):68-72.
[37]王玫,张炎华.一种GPS接收机的完整自检测和故障分离技术[J].哈尔滨:哈尔滨商业大学学报自然科学版,2004,20(5):529-534.
[38]孙明菡等.接收机自主完好性监测可用性判断方法研究[J].北京:遥测遥控,2006,27(2):24-27.
[39]Bradford W.Parkinson and J.J.Spilker Jr.et.al.Global Positioning System:Theory and Applications[M].Washington D.C.,published by AIAA.1994.
[40]Marvin May,Eric Kreisher,Tonino Nasuti,Caria Sives.Evaluation of GPS Receiver Ranging Accuracy.Position Location and Navigation Symposium,1990.Record.'The 1990's-A Decade of Excellence in the Navigation Sciences'[J].IEEE PLANS '90.IEEE,1990:314-321.
[41]Karen L.Van Dyke.The World After SA:Benefits to GPS Integrity[J].IEEE,2000:387-394.
[42]Ron Hatch,Tenny Sharpe,Yunchum Yang.A Simple RAIM and Fault Isolation Scheme[A].In:ION GPS/GNSS 2003[C].Portland,Oregon USA:Institute of Navigation.2003:801-808.
[43]Dr.Young C.Lee.Investigation of Extending Receiver Autonomous Integrity Monitoring(RAIM) to Combined Use of Galileo and Modernized GPS[A].ION GNSS 2004[C].Long Beach,CA:Institute of Navigation.2004:1691-1698.
[44]Giinter W.Hein.Integrity Monitoring Concepts for a Global Navigation Satellite System(GNSS-2)[A].ION GPS 99[C].Nashville,USA:Institute of Navigation.1999:2149-2158.
[45]Juan Blanch.Using Kriging to Bound Satellite Ranging Errors Due to the Ionosphere[D].Stanford University Ph.D.Dissertation,Department of Aeronautics and Astronautics.2003.
[46]Shau-Shiun Jan,Demoz Gebre-Egziabher,Todd Walter,et.al.Worst-Case Analysis of a 3-Frequency Receiver to Land a General Aviation Airplane[A].Proceedings of ION NTM 2002,San Diego,CA,2002.
[47]Guochang Xu,GPS Theory Algorithms and Application[M].Springer.2003.
[48]K.O' Keefe,S.Ryan,G.Lachapelle,Global Availability and Reliability Assessment of the GPS and Galileo Global Navigation Satellite Systems[J],Canadian Aeronautics and Space Journal,Vol.48,NO.2,June 2002.
[49]Mohamed Abdel-Salam,Yang Gao,Ambiuity Resolution in Precise Point Positioining:Preliminary Results[J],ION GPS/GNSS 2003:1222-1228.
[50]G Jeffrey Geier,T Michael King,Howard L Kennedy,et al.Prediction of the Time Accuracy and Integrity of GPS Timing[A].1995 IEEE International Frequency Control Symposium[C],Motorola Position and Navigation Systems Business, 1995:266-274.
[51] V.Glenn Virball, William RMichalson, Peter L.Levin, A GPS Integrity Channel Based Fault Detection and Exclusion Algorithm Using Maximum Solution Separation[J], IEEE, 1994:747-754.
[52] S.Pogorelc and et al, National Satellite Test Bed (NSTB) GPS Satellite Clock/Ephemeris Analysis and Results[C], Proceedings of ION GPS-95, 1995.
[53] R.Brown, Real Time GPS Pseudorange Multipath Correction[J], Proceedings of ION NTM-95, 1995.
[54] Evaluation of the high precision GPS point positioning using GPS Data from Brazil[C], IUGG-XXII General Assembly,Burmingham,1999.
[55] B.Hofmann-Wellenhof,Herbert Lichtenegger, GPS Theory and Practice, Fourth, revised edition[M], Springer Wien New York, 1997.
[56] Steve Lazar, Martin Bottjer, Don Watanabe, Steve Craig. A GPS Modernization Simulator[C], Proceedings of ION GPS 98,15-18 September 1998, Nashville, Tennesee, 1887-1893.
[57] ICD-GPS-200(2000), ARINC Research Corporation[S], CA, USA. 2004.
[58] Terry Moore, Marcio Aquino, Sam Waugh, Alan Dodson and Chris Hill. Evaluation of the EGNOS Ionospheric Correction Model under Scintillation in Northern Europe[C], ION GPS-2002: 1297-1306, Portland, September 2002
[59] Mahmoud Lotfy El-Gizawy, Development of an Ionosphere Monitoring Technique Using GPS Measurements for High Latitude GPS Users[D], A Thesis of Science Master, the University of Calgary, 2003.
[60] Marcelo Tomio Matsuoka, Paulo de Oliveira Camargo. Evaluation of Functions for Modelling of the Effect of the Ionospheric Refraction in the Propagation of the GPS Signals[C], ION GPS/GNSS-2003 Proceedings, Portland, September 2003.
[61] Patricia H.Doherty, Paul J.Gendron, Robert Loh, David N.Anderson. The Spatial and Temporal Variations in Ionospheric Range Delay[C], ION GPS-97 Proceedings, 231-240, Kansas, September 1997.
[2]刘基余.GPS卫星导航定位原理与方法[M].北京:科学出版社,2003.
[3]黄智伟.GPS接收机电路设计[M].北京:国防工业出版社,2006.
[4]王惠南.GPS导航原理与应用[M].北京:科学出版社,2003.
[5]EllioR D.Kaplan.GPS原理与应用[M].北京:电子工业出版社,2007.
[6]周忠谟,易杰军等.GPS卫星测量原理与应用[M].北京:测绘出版社,1997.
[7]袁建平,方群,郑谔.GPS在飞行器定位导航中的应用[M].西安:西北工业大学出版社,2000.
[8]Vladimir A.Chobotov.航天器的姿态动力学与控制[M].北京:航空工业出版社,1992.
[9]赵亦林.车辆定位与导航系统[M].北京:电子工业出版社,1999.
[10]李明峰,冯宝红,刘三枝.GPS定位技术及其应用[M].北京:国防工业出版社,2006.
[11]李洪涛,许国昌,薛鸿印等.GPS应用程序设计[M].北京:科学出版社,1999.
[12]徐绍铨,张华海,杨志强等.GPS测量原理及应用[M].武汉,武汉测绘科技大学出版社,1998.
[13]王解先.GPS精密定轨定位[M].上海,同济大学出版社,1997.
[14]John Sharp.Visual C#2005从入门到精通[M].北京:清华大学出版社,2006.
[15]Jesse Liberty.C#程序设计[M].北京:中国电力出版社,2002.
[16]游振东.GNSS接收机内部性能检测方法的研究[D].武汉:武汉大学,2005.
[17]张亮.GPS导航定位算法研究[D].西安:西北工业大学,2007.
[18]金富钊.GPS中的环路跟踪算法的研究[D].西安:西安电子科技大学,2006.
[19]赵军祥.高动态GPS卫星信号模拟器数学模型研究[D].北京:北京航空航天大学,2004.
[20]杜兰.GEO卫星精密定轨技术研究[D].郑州:解放军信息工程大学,2006.
[21]郑亚弟.导航载体轨迹仿真系统的研究与开发[D].郑州:解放军信息工程大学测绘学院,2006.
[22]国家测绘局.全球定位系统(GPS)测量规范[S].北京:测绘出版社,1992.
[23]国家测绘局.全球定位系统(GPS)测量型接收机检定规程[S].北京:测绘出版社,1995.
[24]李飞,段哲民,龚诚,贺卫东.GNSS接收机自主完好性监测算法研究[J].北京:测绘通报,2007.
[25]窦云,张文明,陈军.GPS接收机抗干扰性能分析[J].北京:兵工自动化,2006,25(2):50-52.
[26]深圳市华颖锐兴科技有限公司.GPS接收机的灵敏度分析[C].
[27]廖超明,谭庆林等.GPS接收机检定原理及检定数据自动化处理思路探讨[J].北京:测绘通报,2007,2:11-13.
[28]戴水财等.GPS接收机内噪声水平的评价与检测方法[J].北京:测绘科学,2007,32(5):18-20.
[29]尹继尧等.对GPS接收机测试评估的探讨[J].北京:地震地磁观测与研究,2005,26(6):99-104.
[30]孙进芳 等.量化对GPS接收机捕获性能影响研究[J].北京:航空电子技术,2007,38(3):1-4.
[31]朱新慧,王刃.卫星导航接收机测距精度评价方法研究[J].北京:全球定位系统,2007,5.
[32]何海波.高精度GPS动态测量及质量控制[D].郑州:解放军信息工程大学测绘学院,2002.
[33]程炳华.一种高灵敏度GPS接收机的设计[J].西安:现代电子技术,2006,29(8):103-107.
[34]王甫红,刘基余.星载GPS伪距测量数据质量分析[J].郑州:测绘科学技术学报,2007,24(2):97-99.
[35]王存良.GPS定位和测速的结算过程[J].郑州:电光系统,2003,(1):13-17.
[36]陈晓丽,付平,朱启仁.载波相位GPS接收机可靠性分配与估计[J].西安:导航,2005,41(4):68-72.
[37]王玫,张炎华.一种GPS接收机的完整自检测和故障分离技术[J].哈尔滨:哈尔滨商业大学学报自然科学版,2004,20(5):529-534.
[38]孙明菡等.接收机自主完好性监测可用性判断方法研究[J].北京:遥测遥控,2006,27(2):24-27.
[39]Bradford W.Parkinson and J.J.Spilker Jr.et.al.Global Positioning System:Theory and Applications[M].Washington D.C.,published by AIAA.1994.
[40]Marvin May,Eric Kreisher,Tonino Nasuti,Caria Sives.Evaluation of GPS Receiver Ranging Accuracy.Position Location and Navigation Symposium,1990.Record.'The 1990's-A Decade of Excellence in the Navigation Sciences'[J].IEEE PLANS '90.IEEE,1990:314-321.
[41]Karen L.Van Dyke.The World After SA:Benefits to GPS Integrity[J].IEEE,2000:387-394.
[42]Ron Hatch,Tenny Sharpe,Yunchum Yang.A Simple RAIM and Fault Isolation Scheme[A].In:ION GPS/GNSS 2003[C].Portland,Oregon USA:Institute of Navigation.2003:801-808.
[43]Dr.Young C.Lee.Investigation of Extending Receiver Autonomous Integrity Monitoring(RAIM) to Combined Use of Galileo and Modernized GPS[A].ION GNSS 2004[C].Long Beach,CA:Institute of Navigation.2004:1691-1698.
[44]Giinter W.Hein.Integrity Monitoring Concepts for a Global Navigation Satellite System(GNSS-2)[A].ION GPS 99[C].Nashville,USA:Institute of Navigation.1999:2149-2158.
[45]Juan Blanch.Using Kriging to Bound Satellite Ranging Errors Due to the Ionosphere[D].Stanford University Ph.D.Dissertation,Department of Aeronautics and Astronautics.2003.
[46]Shau-Shiun Jan,Demoz Gebre-Egziabher,Todd Walter,et.al.Worst-Case Analysis of a 3-Frequency Receiver to Land a General Aviation Airplane[A].Proceedings of ION NTM 2002,San Diego,CA,2002.
[47]Guochang Xu,GPS Theory Algorithms and Application[M].Springer.2003.
[48]K.O' Keefe,S.Ryan,G.Lachapelle,Global Availability and Reliability Assessment of the GPS and Galileo Global Navigation Satellite Systems[J],Canadian Aeronautics and Space Journal,Vol.48,NO.2,June 2002.
[49]Mohamed Abdel-Salam,Yang Gao,Ambiuity Resolution in Precise Point Positioining:Preliminary Results[J],ION GPS/GNSS 2003:1222-1228.
[50]G Jeffrey Geier,T Michael King,Howard L Kennedy,et al.Prediction of the Time Accuracy and Integrity of GPS Timing[A].1995 IEEE International Frequency Control Symposium[C],Motorola Position and Navigation Systems Business, 1995:266-274.
[51] V.Glenn Virball, William RMichalson, Peter L.Levin, A GPS Integrity Channel Based Fault Detection and Exclusion Algorithm Using Maximum Solution Separation[J], IEEE, 1994:747-754.
[52] S.Pogorelc and et al, National Satellite Test Bed (NSTB) GPS Satellite Clock/Ephemeris Analysis and Results[C], Proceedings of ION GPS-95, 1995.
[53] R.Brown, Real Time GPS Pseudorange Multipath Correction[J], Proceedings of ION NTM-95, 1995.
[54] Evaluation of the high precision GPS point positioning using GPS Data from Brazil[C], IUGG-XXII General Assembly,Burmingham,1999.
[55] B.Hofmann-Wellenhof,Herbert Lichtenegger, GPS Theory and Practice, Fourth, revised edition[M], Springer Wien New York, 1997.
[56] Steve Lazar, Martin Bottjer, Don Watanabe, Steve Craig. A GPS Modernization Simulator[C], Proceedings of ION GPS 98,15-18 September 1998, Nashville, Tennesee, 1887-1893.
[57] ICD-GPS-200(2000), ARINC Research Corporation[S], CA, USA. 2004.
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