单历元GPS变形监测数据处理理论与相关方法研究
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摘要
由于GPS载波相位相对定位的高精度，使它成为变形监测中极其重要的监测手段，特别是在桥梁、大坝以及其它建筑物的变形方面有广阔的应用；随着GPS硬件和软件技术的成熟，实时自动化的高精度变形系统将是今后的发展趋势，这种系统能够实现数据采集自动化、内外业处理一体化。在这样的系统中，数据的实时处理是系统建设中的关键问题之一。
论文着重于GPS数据的单历元解算方法研究，以及监测点变形量的分析和预测，此外，还探讨了这种方法在变形监测系统数据处理中的应用情况以及数据的相关性对变形精度的影响。首先，论文系统地分析了单历元算法的解算过程，研究了在不同条件下固定模糊度和提取变形量的方法，分析了约束条件下的单历元解算方法和解算模型的解算过程。试算结果表明，这种算法和模型可以很容易的求得监测点的变形量。接着，本文阐述了对变形值进行分析和预测的各种方法，提出了用整体方差法和假设检验的方法来对变形量进行分析，并用卡尔曼滤波和回归分析方法对变形值进行预测，试算结果表明这些方法是可行的。
数据之间的相关性将影响观测成果，在GPS变形监测系统中，这种影响不可忽视。论文分析了观测值之间的数学相关性，给出了数学相关下的权阵，阐述了观测数据之间的物理相关性，并根据基于时间序列的残差值，求出了时间相关性的函数式，相关时间为200s以上。论文还对空间相关性进行了分析，阐述了多路径效应的影响。根据变形监测的特点以及单历元解算方法，论文最后初步设计了一个GPS变形监测系统。这个系统可以采用单历元算法和变形量的分析方法，同时在数据处理过程中考虑到数据的相关性。
Because of its high precision of GPS carrier-phase relative position, GPS becomes an important method of construction deformation monitoring, especially widely applied in bridge or dam deformation and so on. Along with the progress of technique of GPS hardware and soft, real time automatic monitoring system with high precision will be the trend, it can realize the automation of collecting data and integration of work inside and outside. During the constructing of those systems, real time data processing is one of critical problems.
The paper emphasizes on the method of GPS single epoch algorithm and the influence on result of deformation survey because of correlation among observations, the paper researchs the application of the algorithm of data processing in deformation monitoring system, and the influence on precision of deformation monitoring. Firstly, The paper analyses procedure of data processing of single epoch algorithm, and researchs the method about how to fix ambiguity and pick-up deformation value, it also analyses algorithm with constraints and model of single epoch data processing. According to the result of example, this algorithm with constaints and model are effective and practicable to get deformation value of the monitoring points. Secondly, the paper elaborates many ways to analyze and forecast deformation value, and proposes to use total variance methods and hypothesis and test to analyze, and use regressing and Kalman filter to forecast deformation information. It is confirmed by the example.
Correlation will affect the result, and it should not be neglected in defonnation monitoring system. Lastly, The paper analyses mathematical correlation between data, and gives weight matrix of mathematical correlation, and elaborates physical correlation, gives function of time correlation according to residual errors based on time serial, the correlation time is above 200 seconds, and analyses influence of time correlation. This paper also analyses spatial correlation, and elaborates the effect of multi-path. According to characteristic of deformation system and single epoch algorithm, the paper designs a system primaryly, it uses single epoch algorithm and data analyzing methods, and
considering data correlation at the same time.
论文着重于GPS数据的单历元解算方法研究，以及监测点变形量的分析和预测，此外，还探讨了这种方法在变形监测系统数据处理中的应用情况以及数据的相关性对变形精度的影响。首先，论文系统地分析了单历元算法的解算过程，研究了在不同条件下固定模糊度和提取变形量的方法，分析了约束条件下的单历元解算方法和解算模型的解算过程。试算结果表明，这种算法和模型可以很容易的求得监测点的变形量。接着，本文阐述了对变形值进行分析和预测的各种方法，提出了用整体方差法和假设检验的方法来对变形量进行分析，并用卡尔曼滤波和回归分析方法对变形值进行预测，试算结果表明这些方法是可行的。
数据之间的相关性将影响观测成果，在GPS变形监测系统中，这种影响不可忽视。论文分析了观测值之间的数学相关性，给出了数学相关下的权阵，阐述了观测数据之间的物理相关性，并根据基于时间序列的残差值，求出了时间相关性的函数式，相关时间为200s以上。论文还对空间相关性进行了分析，阐述了多路径效应的影响。根据变形监测的特点以及单历元解算方法，论文最后初步设计了一个GPS变形监测系统。这个系统可以采用单历元算法和变形量的分析方法，同时在数据处理过程中考虑到数据的相关性。
Because of its high precision of GPS carrier-phase relative position, GPS becomes an important method of construction deformation monitoring, especially widely applied in bridge or dam deformation and so on. Along with the progress of technique of GPS hardware and soft, real time automatic monitoring system with high precision will be the trend, it can realize the automation of collecting data and integration of work inside and outside. During the constructing of those systems, real time data processing is one of critical problems.
The paper emphasizes on the method of GPS single epoch algorithm and the influence on result of deformation survey because of correlation among observations, the paper researchs the application of the algorithm of data processing in deformation monitoring system, and the influence on precision of deformation monitoring. Firstly, The paper analyses procedure of data processing of single epoch algorithm, and researchs the method about how to fix ambiguity and pick-up deformation value, it also analyses algorithm with constraints and model of single epoch data processing. According to the result of example, this algorithm with constaints and model are effective and practicable to get deformation value of the monitoring points. Secondly, the paper elaborates many ways to analyze and forecast deformation value, and proposes to use total variance methods and hypothesis and test to analyze, and use regressing and Kalman filter to forecast deformation information. It is confirmed by the example.
Correlation will affect the result, and it should not be neglected in defonnation monitoring system. Lastly, The paper analyses mathematical correlation between data, and gives weight matrix of mathematical correlation, and elaborates physical correlation, gives function of time correlation according to residual errors based on time serial, the correlation time is above 200 seconds, and analyses influence of time correlation. This paper also analyses spatial correlation, and elaborates the effect of multi-path. According to characteristic of deformation system and single epoch algorithm, the paper designs a system primaryly, it uses single epoch algorithm and data analyzing methods, and
considering data correlation at the same time.
引文
[1]魏子卿，葛茂荣．GPS相对定位中的数学模型，北京：测绘出版社，1998(2)：52～55
[2]王广运．差分GPS应用技术与应用，北京：电子工业出版社，1996
[3]赵显富．变形监测成果数据库管理系统的研制，测绘通报，2001(4)：28～32
[4]李洪涛．GPS应用程序设计，北京：科学出版社，1999，5
[5]徐绍铨．GPS测量原理及应用，武汉：武汉测绘科大出版社，2000，4
[6]徐晓华，李征航，罗佳．隔河岩大坝GPS变形监测数据分析，测绘信息与工程，2001(3)：30～33
[7]韩保民，欧吉坤．一种附约束的单频单历元GPS双差相位解算方法，测绘学报，2002，31(4)：300～303
[8]黄丁发．低费用多天线GPS变形监测系统的研究，工程勘察，2001(1)
[9]张航．GPS复测黄腊石滑坡大地形变网的精度分析，工程勘察，2001(2)
[10]陶本藻．GPS变形监测网的整体方差分析法，地矿测绘，2001(1)：6～8
[11]王解先．GPS动态伪距单点定位精度与GDOP的关系，工程勘察，1998(6)
[12]张华海．GPS形变监测网的数据处理模型，中国矿业大学学报，2000(4)
[13]姜卫平．GPS形变监测网基线处理中系统误差的分析，武汉大学学报·信息科学版，2001，26(3)
[14]王爱朝．GPS差分模型中观测值相关性的探讨，合肥工业大学学报，1994，17(1)
[15]柴洪洲．抗差卡尔曼滤波在GPS动态定位中的应用，测绘学院学报，2001，18(1)
[16]田玉刚．GPS一机多天线变形监测系统前期试验网的精度研究，工程勘察2002(5)
[17]王爱生．GPS基线向量的相关性分析及数据模拟，太原理工大学学报，1998，Vol．29，NO．4
[18]朱智勤．GPS进行变形监测的新方法、模型及软件研制，[硕士论文]，2001
[19]熊永良．GPS基线解算的理论与预算法及其在变形监测中的应用研究，[博士学位论文]，2000
[20]余学祥、徐绍铨．GPS监测网基准点位移及观测粗差的抗差估计，测绘通报，2002(8)：28～31
[21]陶本藻．GPS变形监测网的整体方差分析法，地矿测绘，2001(6)：6～8
[22]刘大杰、施一民．全球定位系统(GPS)的原理与数据处理，上海：同济大学出版社，1996
[23]徐良．批于GPS(RTK技术)的虎门大桥位移实时监测数据分析，工程勘察2001(1)
[24]黄声享、刘经南．GPS变形监测系统中消除噪声的一种有效方法，测绘学报，2002，31(2)：104～107
[25]马能武．大坝安全监测数据的分段多项式滤波方法研究，人民长江，2002，Vol．33，NO．6
[26]陆付民，卡尔曼滤波法在大坝变形分析中的应用，勘察科学技术，2002(1)：43～45
[27]王晓强．GPS测量中多路径误差的影响，地壳形变与地震，2002，20(1)
[28]杨海军．GPS定位信号随机误差自适应模型，数值计算与计算机应用，2000(1)
[29]李延兴．GPS测量大气折射改正，地壳形变与地震，Vol．18，No．1
[30]栾元重，班训海．GPS绝对定位解算方法探讨，地矿测绘，2000
[31]黄丁发．多天线GPS软件系统，测绘通报，2000 (11)
[32]杨海军．OLE自动化在变形监测中的应用，北京测绘，2000年第三期
[33]贾沛璋．单频GPS周跳检测与估计算法，天文学报，2001，42(2)
[34]沈云中．独立坐标系中GPS网的坐标变换方法，工程勘察，1998年第1期
[35]石杏喜．变形监测信息管理系统的研制及其应用，黑龙江工程学院学报，1995
[36]冯仲科．GPS接收机RTK定位中整周模糊度的快速解算方法，北京林业大学学报，第21卷第6期，1999
[37]宋茂忠．提高GPS定位精度的数据处理技术，数据采集与处理，2001，16(2)
[38]Cankut D, Real-time deformation monitoring with GPS and Kalman Filter, Istanbul Technical University, Faculty of Civil Engineering, Department of Geodesy and Photogrammetry, Earth Planets Space, 52, 837-840, 2000
[39]P. J. G. Teunissen, A canonical theory for short GPS baselines, the ambiguity precision and correlation, Delft Geodetic Computing Centre (LGR), Journal of Geodesy, 1997
[40]R.S.Radovanvic,Variance-Covariance Modeling of Carrier Phase Error for Rigorous Adjustment of Local Area Network, the university of Calgary,2001
[41]Robert S. Radovanovic, High Accuracy Deformation Monitoring Via Multipath Mitigation by Day-To-Day Correlation Analysis, ION GPS2000, Salt Lake City, USA, September, 2000
[42]T. Pany', P. Pesec' and G. Stang12, Elimination of Tropospheric Path Delays in GPS Observations Numerical Weather Model with the ECMWF, Phys. Chem. Earth (A), Vol. 26, No. 6-8, pp. 487-492.2001
[43]Yuanxi Yang, Robust Estimator for the Adjustment of Correlated GPS Networks, Xi'an Research Institute of Surveying and Mapping, 2001
[44]Kai Borre, Time Series Analysis of GPS Observables, Delft University of Technology, 2000
[45]Neil Brown, Stochastic modeling of GPS phase observation, The University of Melbourne 3010, Australia, 2002
[46]Professor, P A Cross, Improving the accuracy of RTK GPS through multipath and stochastic modeling, Department of Geomatic Engineering, University College London, 1999
[47]Howind, J, Kutterer, H, Heck, B: Impact of temporal correlations on GPS-derived relative point positions, Journal of Geodesy 73, p. 246-258, 1999
[48]P.Jarlemark, Spatial Error Correlation of GPS Atmospheres as Determined from Simulations, Chalmers University of Technology, Sweden, Swedish National Testing and Research Institute, Phys. Chem. Earth (A), Vol. 26, No. 6-8
[49]E1-Rabbany AE-S (1994), The effect of physical correlations on the ambiguity resolution and accuracy estimation in GPS differential positioning. Tech Rep 170, Department of Geodesy and Geomatics Engineering, University of New Brunswick
[50]Kenneth W. Hudnut and Jeffrey A. Behr, Continuous GPS monitoring of Structural Deformation at Pacoima Dam, California, 1998 issue, vol. 69, No. 4; pp. 299-308
[2]王广运．差分GPS应用技术与应用，北京：电子工业出版社，1996
[3]赵显富．变形监测成果数据库管理系统的研制，测绘通报，2001(4)：28～32
[4]李洪涛．GPS应用程序设计，北京：科学出版社，1999，5
[5]徐绍铨．GPS测量原理及应用，武汉：武汉测绘科大出版社，2000，4
[6]徐晓华，李征航，罗佳．隔河岩大坝GPS变形监测数据分析，测绘信息与工程，2001(3)：30～33
[7]韩保民，欧吉坤．一种附约束的单频单历元GPS双差相位解算方法，测绘学报，2002，31(4)：300～303
[8]黄丁发．低费用多天线GPS变形监测系统的研究，工程勘察，2001(1)
[9]张航．GPS复测黄腊石滑坡大地形变网的精度分析，工程勘察，2001(2)
[10]陶本藻．GPS变形监测网的整体方差分析法，地矿测绘，2001(1)：6～8
[11]王解先．GPS动态伪距单点定位精度与GDOP的关系，工程勘察，1998(6)
[12]张华海．GPS形变监测网的数据处理模型，中国矿业大学学报，2000(4)
[13]姜卫平．GPS形变监测网基线处理中系统误差的分析，武汉大学学报·信息科学版，2001，26(3)
[14]王爱朝．GPS差分模型中观测值相关性的探讨，合肥工业大学学报，1994，17(1)
[15]柴洪洲．抗差卡尔曼滤波在GPS动态定位中的应用，测绘学院学报，2001，18(1)
[16]田玉刚．GPS一机多天线变形监测系统前期试验网的精度研究，工程勘察2002(5)
[17]王爱生．GPS基线向量的相关性分析及数据模拟，太原理工大学学报，1998，Vol．29，NO．4
[18]朱智勤．GPS进行变形监测的新方法、模型及软件研制，[硕士论文]，2001
[19]熊永良．GPS基线解算的理论与预算法及其在变形监测中的应用研究，[博士学位论文]，2000
[20]余学祥、徐绍铨．GPS监测网基准点位移及观测粗差的抗差估计，测绘通报，2002(8)：28～31
[21]陶本藻．GPS变形监测网的整体方差分析法，地矿测绘，2001(6)：6～8
[22]刘大杰、施一民．全球定位系统(GPS)的原理与数据处理，上海：同济大学出版社，1996
[23]徐良．批于GPS(RTK技术)的虎门大桥位移实时监测数据分析，工程勘察2001(1)
[24]黄声享、刘经南．GPS变形监测系统中消除噪声的一种有效方法，测绘学报，2002，31(2)：104～107
[25]马能武．大坝安全监测数据的分段多项式滤波方法研究，人民长江，2002，Vol．33，NO．6
[26]陆付民，卡尔曼滤波法在大坝变形分析中的应用，勘察科学技术，2002(1)：43～45
[27]王晓强．GPS测量中多路径误差的影响，地壳形变与地震，2002，20(1)
[28]杨海军．GPS定位信号随机误差自适应模型，数值计算与计算机应用，2000(1)
[29]李延兴．GPS测量大气折射改正，地壳形变与地震，Vol．18，No．1
[30]栾元重，班训海．GPS绝对定位解算方法探讨，地矿测绘，2000
[31]黄丁发．多天线GPS软件系统，测绘通报，2000 (11)
[32]杨海军．OLE自动化在变形监测中的应用，北京测绘，2000年第三期
[33]贾沛璋．单频GPS周跳检测与估计算法，天文学报，2001，42(2)
[34]沈云中．独立坐标系中GPS网的坐标变换方法，工程勘察，1998年第1期
[35]石杏喜．变形监测信息管理系统的研制及其应用，黑龙江工程学院学报，1995
[36]冯仲科．GPS接收机RTK定位中整周模糊度的快速解算方法，北京林业大学学报，第21卷第6期，1999
[37]宋茂忠．提高GPS定位精度的数据处理技术，数据采集与处理，2001，16(2)
[38]Cankut D, Real-time deformation monitoring with GPS and Kalman Filter, Istanbul Technical University, Faculty of Civil Engineering, Department of Geodesy and Photogrammetry, Earth Planets Space, 52, 837-840, 2000
[39]P. J. G. Teunissen, A canonical theory for short GPS baselines, the ambiguity precision and correlation, Delft Geodetic Computing Centre (LGR), Journal of Geodesy, 1997
[40]R.S.Radovanvic,Variance-Covariance Modeling of Carrier Phase Error for Rigorous Adjustment of Local Area Network, the university of Calgary,2001
[41]Robert S. Radovanovic, High Accuracy Deformation Monitoring Via Multipath Mitigation by Day-To-Day Correlation Analysis, ION GPS2000, Salt Lake City, USA, September, 2000
[42]T. Pany', P. Pesec' and G. Stang12, Elimination of Tropospheric Path Delays in GPS Observations Numerical Weather Model with the ECMWF, Phys. Chem. Earth (A), Vol. 26, No. 6-8, pp. 487-492.2001
[43]Yuanxi Yang, Robust Estimator for the Adjustment of Correlated GPS Networks, Xi'an Research Institute of Surveying and Mapping, 2001
[44]Kai Borre, Time Series Analysis of GPS Observables, Delft University of Technology, 2000
[45]Neil Brown, Stochastic modeling of GPS phase observation, The University of Melbourne 3010, Australia, 2002
[46]Professor, P A Cross, Improving the accuracy of RTK GPS through multipath and stochastic modeling, Department of Geomatic Engineering, University College London, 1999
[47]Howind, J, Kutterer, H, Heck, B: Impact of temporal correlations on GPS-derived relative point positions, Journal of Geodesy 73, p. 246-258, 1999
[48]P.Jarlemark, Spatial Error Correlation of GPS Atmospheres as Determined from Simulations, Chalmers University of Technology, Sweden, Swedish National Testing and Research Institute, Phys. Chem. Earth (A), Vol. 26, No. 6-8
[49]E1-Rabbany AE-S (1994), The effect of physical correlations on the ambiguity resolution and accuracy estimation in GPS differential positioning. Tech Rep 170, Department of Geodesy and Geomatics Engineering, University of New Brunswick
[50]Kenneth W. Hudnut and Jeffrey A. Behr, Continuous GPS monitoring of Structural Deformation at Pacoima Dam, California, 1998 issue, vol. 69, No. 4; pp. 299-308