GPS/GALILEO完备性算法研究及软件实现
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摘要
完备性研究是当前对GNSS研究的一个热点问题。完备性可以分为三个基本级别：系统级,监测站级和用户级。基于GPS数据和仿真的GALILEO数据,本文主要对系统级和监测站级的完备性算法中一些技术指标进行了相关研究,并利用VC++和Fortran语言编程GPS/GALILEO完备性计算软件。本文主要从以下几个方面进行了研究：
1、分析了GPS现代化后加载的L2C的数据质量。主要从两个方面进行了对比,先是将现代化前的L1载波和L2载波以及现代化后的L1载波和L2载波信噪比数据的对比与分析,然后利用统计分析的方法对数据的稳定性进行了有效的分析和验证。
2、研究了WUL的概念,模型及计算方法。分为三步：首先探讨了WUL的确定的基本原理,在此基础上研究了其计算方法,在具体的计算中采用自己提出的有效的迭代方法,并进行算法验证。
3、研究了SISE和SISA的基本概念,数学原理。在WUL算法的基础之上,对SISE进行了计算,并分别采用导航星历计算的卫星坐标与IGS精密星历计算的卫星坐标之差和IGR快速星历与IGS精密星历计算的卫星坐标之差来模拟轨道误差对SISE的特点进行了分析。在此基础之上,构造t分布统计量对SISA进行了有效的计算和分析。
4、研究了SISMA的基本概念,数学模型和数据处理方法。在SISE计算的基础之上,研究了SISMA的计算方法,并分别采用导航星历计算的卫星坐标和IGR快速星历对SISMA进行数据处理和算法验证,对不同的数据计算出的SISMA的特点进行了分析。
5、研究了XPL的基本概念和数学模型。首先对XPL的基本概念模型进行了研究与分析,然后分别采用实际观测的GPS数据和仿真的GALILEO数据对HPL和VPL进行了计算,并比较了两个导航系统在XPL计算结果的差异。
6、对GPS/GALILEO系统完备性计算软件进行了研制与开发,并利用实际数据对软件的可用性进行了的验证。
Integrity is a very hot topic in the research of GNSS. Integrity is defined as that the ability of system gives alarm to the user when the navigation system cann't be use to navigation due to its fault. It can be divided into three levels:system level, monitor station level and user level. Based on GPS data and GALILEO simulation data, this paper mainly discuss the several parameters in system level and monitor station level, and then a GPS/GALILEO integrity is compiled by use of VC++and FORTRAN program language. The main research contents are as follows:
1. The quality of L2C SNR data modulated on the modern satellites is analyzed. It mainly studies from two aspects:firstly, analyzing the SNR values on the L1 and L2 frequencies of the satellites unmodulated L2C and the L1 and L2 frequencies of the modernized satellites, and then use the method of statistical analysis to analyze and verify the stability of the data.
2. The concept, model and calculation method of worst user location are studied. It is divided into three stepts:firstly, discuss the basic concept of worst user location, then research on the calculation method and propose a new iterative method, finaly verify this method.
3. The basic concept and mathematical principle of signal in space error and signal in space accuracy are discussed. Based on the results of worst user location, signal in space error is calculated and analyzed using the navigation data, observation data, SP3 data and IGR data, SP3 data to simulate orbit error separately. Based on that, a t distribution statistics is structure to calculate and analyze the signal in space accuracy.
4. The basic concept, mathematical model and data process method of signal in space monitor accuracy are researched. Based on the signal in space error, the calculation method of signal in space monitor accuracy is proposed and vertfied by using navigation data and IGR data, and then the characters of signal in space monitor accuracy are analyzed.
5. The basic concepts and mathematical models of horizontal/ vertical protection level are studied. Firstly, the calculation model of horizontal/ vertical protection level are presented, and then horizontal/ vertical protection level are calculated and the differences of GPS and GALILEO system are compared by using GPS data and GALILEO simulation data.
6. GPS/GALILEO integrity is compiled and developed and the availibity is testified by using GPS/GALILEO data.
1、分析了GPS现代化后加载的L2C的数据质量。主要从两个方面进行了对比,先是将现代化前的L1载波和L2载波以及现代化后的L1载波和L2载波信噪比数据的对比与分析,然后利用统计分析的方法对数据的稳定性进行了有效的分析和验证。
2、研究了WUL的概念,模型及计算方法。分为三步：首先探讨了WUL的确定的基本原理,在此基础上研究了其计算方法,在具体的计算中采用自己提出的有效的迭代方法,并进行算法验证。
3、研究了SISE和SISA的基本概念,数学原理。在WUL算法的基础之上,对SISE进行了计算,并分别采用导航星历计算的卫星坐标与IGS精密星历计算的卫星坐标之差和IGR快速星历与IGS精密星历计算的卫星坐标之差来模拟轨道误差对SISE的特点进行了分析。在此基础之上,构造t分布统计量对SISA进行了有效的计算和分析。
4、研究了SISMA的基本概念,数学模型和数据处理方法。在SISE计算的基础之上,研究了SISMA的计算方法,并分别采用导航星历计算的卫星坐标和IGR快速星历对SISMA进行数据处理和算法验证,对不同的数据计算出的SISMA的特点进行了分析。
5、研究了XPL的基本概念和数学模型。首先对XPL的基本概念模型进行了研究与分析,然后分别采用实际观测的GPS数据和仿真的GALILEO数据对HPL和VPL进行了计算,并比较了两个导航系统在XPL计算结果的差异。
6、对GPS/GALILEO系统完备性计算软件进行了研制与开发,并利用实际数据对软件的可用性进行了的验证。
Integrity is a very hot topic in the research of GNSS. Integrity is defined as that the ability of system gives alarm to the user when the navigation system cann't be use to navigation due to its fault. It can be divided into three levels:system level, monitor station level and user level. Based on GPS data and GALILEO simulation data, this paper mainly discuss the several parameters in system level and monitor station level, and then a GPS/GALILEO integrity is compiled by use of VC++and FORTRAN program language. The main research contents are as follows:
1. The quality of L2C SNR data modulated on the modern satellites is analyzed. It mainly studies from two aspects:firstly, analyzing the SNR values on the L1 and L2 frequencies of the satellites unmodulated L2C and the L1 and L2 frequencies of the modernized satellites, and then use the method of statistical analysis to analyze and verify the stability of the data.
2. The concept, model and calculation method of worst user location are studied. It is divided into three stepts:firstly, discuss the basic concept of worst user location, then research on the calculation method and propose a new iterative method, finaly verify this method.
3. The basic concept and mathematical principle of signal in space error and signal in space accuracy are discussed. Based on the results of worst user location, signal in space error is calculated and analyzed using the navigation data, observation data, SP3 data and IGR data, SP3 data to simulate orbit error separately. Based on that, a t distribution statistics is structure to calculate and analyze the signal in space accuracy.
4. The basic concept, mathematical model and data process method of signal in space monitor accuracy are researched. Based on the signal in space error, the calculation method of signal in space monitor accuracy is proposed and vertfied by using navigation data and IGR data, and then the characters of signal in space monitor accuracy are analyzed.
5. The basic concepts and mathematical models of horizontal/ vertical protection level are studied. Firstly, the calculation model of horizontal/ vertical protection level are presented, and then horizontal/ vertical protection level are calculated and the differences of GPS and GALILEO system are compared by using GPS data and GALILEO simulation data.
6. GPS/GALILEO integrity is compiled and developed and the availibity is testified by using GPS/GALILEO data.
引文
1.党亚民,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
2. 周忠漠,易杰军,周琪.GPS卫星测量原理与应用[M].北京：测绘出版社,1997
3. 李征航,黄劲松.GPS测量与数据处理[M].武汉：武汉大学出版社,2005
4. 张勤,李家权等.GPS测量原理及应用[M].北京：科学出版社,2005
5. 徐绍铨,张华海,杨志强,王泽民.GPS测量原理及应用[M].武汉：武汉大学出版社,2003
6. 彭国伦.Fortran 95程序设计[M].北京：中国电力出版社,2002
7. 朱衍波,张晓林,薛瑞,张淼艳.民航GPS地基区域完好性监视系统设计与实现[J].北京航空航天大学学报,2006.7,第32卷第7期,797-801.
8. 马强,耿长江,邵连军.SBAS与GALILEO系统完好性的比较研究[J].GNSS World of China,2007.6,36-38
9. 赵春梅,党亚民,张化疑.GALILEO系统完备j性指标SISMA的计算和分析[J].测绘学报,2006.5,第36卷第2期,129-132.
10.王解先,程鹏飞.伽利略系统定位精度与测站位置的关系[J].测绘科学,2004.4,第29卷第2期,19-21.
11.张化疑,党亚民,赵春梅,李秀栋.精度和完备性在GALILEO局域监测网中变化规律研究[J].2007.5,第32卷第3期,162-163.
12.赵春梅,张化疑,王华.卫星导航系统完备性指标SISA的计算和分析[J]..测绘科学技术报,2007.10,第24卷第5期,340-345.
13.郭英,赵春梅,党亚民,卢秀山.SISA完备性监测与WUL可靠性算法[J].测绘科学技术报,2007.10,第24卷第5期,353-356.
14.陈金平.GPS完善性增强研究[博士论文].解放军信息工程大学,2001.
15.郭英.GALILEO系统完备性理论及其应用研究[D].山东科技大学,2006.
16.张化疑.GALILEO局域增强完备性监测网布设研究[硕士论文].山东科技大学,2007.
17.邱志和.GPS新民用信号L2C及其应用。导航[J],2004,12(4)：1-18.
18.杨天石.多路径效应对GPS精密定位的影响及消除方法分析.勘查科学技术[J],2006 (3)：53-56.
19.张波,黄劲松,苏林.利用信噪比削弱GPS多路径效应的研究.测绘科学[J].2003,9(3)：32-35.
20.熊波,万卫星.GPS卫星信标信噪比的统计分析.空间科学学报.2006,26(5)：326-330.
21.袁运彬.基于GPS的电离层监测及延迟改正理论与方法的研究[D].武汉：中科院测地所,2002：45-86.
22. Tran, M., "Performance Evaluations of the New GPS L5 and L2 Civil (L2C) Signals", Journal of Institute of Navigation, Vol.51, No 3, Fall 2004 pp 199-21.
23. Carlos Hernandez Medel. SISA Computation Algorithm and their applicability for GALILEO Intergrity[J]. ION GNSS International Meeting of the Satellite Division,24-27 Sept. 2002, Portland, OR.2002:2173-2184.
24. Wolfgang Werner, Theodor Zink. GALILEO Integrity Performance Assessment (GIPA)[J]. ION GPS International Meeting of the Satellite Division,11-14 Sept.2001, Salt Lake City, UT,2001:1838-1849.
25. Veit Oehler, Francesco Luongo, Hans L. Trautenberg, Juan-Pablo Boyero, Jan Krueger, Tanja Rang. The GALILEO Integrity Concept and Performance. GALILEO-Industries GmbH.
26. Teunissen P J G. Quality Control in Geodetic Networks. In:Grafarend, Sanso, eds. Optimization and Design of Geodetic Networks[J]. Berlin:Springer Verlag,1984:526-547.
27. Shaojun Feng and Washington Y. Ochieng. An Efficient Worst User Location Algorithm for the Generation of the GALILEO Integrity Flag[J]. ION GNSS International Meeting of the Satellite Division,13-16 Sept.2005, Long Beach,CA.2005:2374-2384.
28. Wolfgang W, Theodor Z. GALILEO integrity performance assessment results and recommendations. In:Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation:ION GPS/GNSS 2002. Portland OR,2002: 2185-2195.
29. Verhagen S. Performance analysis of GPS GALILEO and integrated GPSGALILEO[J]. In:Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation:ION GPS/GNSS 2002. Portland OR,2002:2208-2215
30.Mozo Garcia, Miguel M. Romay Merino, Belen Martin Peiro. A New System Level Integrity Concept for GALILEO:The Signal In Space Accuracy E.Herraiz-Monseco[J]. ION GPS International Meeting of the Satellite Division,11-14 Sept.2001, Salt Lake City, UT. 2001:1838-1849.
31. Gunter W.Hein, Theodor Zink AND Bernd Eissfeller. Integrity Monitoring Concepts for a Global Navigation Satellite System(GNSS-2)[J]. ION GPS 99, Nashville, TN,1999: 2149-2158.
32. "GALILEO Integrity Concept", ESA-APPNGTN/00391, issue TBD, June 10,2006.
33. "Direct Integrity Risk Computation at the Alter Limit", Presented at the ION-2004, Long Beach, CA, Sept.2004.
34. Helmut Blomenhofer, Walter Ehret. Performance Analysis of GNSS Global and Regional Integrity Concepts[J]. ION GNSS International Meeting of the Satellite Division,9-12 Sept. 2003, Portland, OR.2003:991-1001.
35. Stephane. On the GALILEO User Integrity Computation [J].2002:56-66.
36. R.B.Langley. The Itegrity of GPS, http://www.gpsworld.com/0699,1999.
37. R.GBrown and P.Hwang. GPS Failure Detection by Autonomous Mean within the Cochpit[J]. Proceeding of ION 42TH Annual Meeting,1986.9:1456-1463.
38. Y.Lee, Analysis of Range and Position Comparison Methods as a means to Provide GPS Integrity in the User Receiver[J]. Proceeding of Navigation 42TH Annual Meeting,1986.9: 456-462.
39. R.GBrown and P.W. Mcburney. Self-Contained GPS integrity Check Using Maximum Solution Separation, NAVIGATION, Journal of the Institute of Navigation,1988, Vol.35 No.1: 37-50.
40. B.W. Parkinson and P.Axelrad. Autonomous GPS Integrity Monitoring Using the Pseudorange Residual[J]. NAVIGATION, Journal of the Institute of Navigation,1988,Vol.35 No.1:45-54.
41. Timothy R. Schempp. An Application of Gaussian Overbounding for the WAAS Fault Free Eroor Analysis[J]. ION GNSS International Meeting of the Satellite Division,24-27 Sept. 2002, Portland, OR.2002:766-772.
42. Timothy R. Schempp, Sctephen R.Peck. WAAS Algorithm Contribution to Hazardously Mileading Information(HMI). ION GPS 2001, Salt Lake City, UT,2001:1831-1837.
2. 周忠漠,易杰军,周琪.GPS卫星测量原理与应用[M].北京：测绘出版社,1997
3. 李征航,黄劲松.GPS测量与数据处理[M].武汉：武汉大学出版社,2005
4. 张勤,李家权等.GPS测量原理及应用[M].北京：科学出版社,2005
5. 徐绍铨,张华海,杨志强,王泽民.GPS测量原理及应用[M].武汉：武汉大学出版社,2003
6. 彭国伦.Fortran 95程序设计[M].北京：中国电力出版社,2002
7. 朱衍波,张晓林,薛瑞,张淼艳.民航GPS地基区域完好性监视系统设计与实现[J].北京航空航天大学学报,2006.7,第32卷第7期,797-801.
8. 马强,耿长江,邵连军.SBAS与GALILEO系统完好性的比较研究[J].GNSS World of China,2007.6,36-38
9. 赵春梅,党亚民,张化疑.GALILEO系统完备j性指标SISMA的计算和分析[J].测绘学报,2006.5,第36卷第2期,129-132.
10.王解先,程鹏飞.伽利略系统定位精度与测站位置的关系[J].测绘科学,2004.4,第29卷第2期,19-21.
11.张化疑,党亚民,赵春梅,李秀栋.精度和完备性在GALILEO局域监测网中变化规律研究[J].2007.5,第32卷第3期,162-163.
12.赵春梅,张化疑,王华.卫星导航系统完备性指标SISA的计算和分析[J]..测绘科学技术报,2007.10,第24卷第5期,340-345.
13.郭英,赵春梅,党亚民,卢秀山.SISA完备性监测与WUL可靠性算法[J].测绘科学技术报,2007.10,第24卷第5期,353-356.
14.陈金平.GPS完善性增强研究[博士论文].解放军信息工程大学,2001.
15.郭英.GALILEO系统完备性理论及其应用研究[D].山东科技大学,2006.
16.张化疑.GALILEO局域增强完备性监测网布设研究[硕士论文].山东科技大学,2007.
17.邱志和.GPS新民用信号L2C及其应用。导航[J],2004,12(4)：1-18.
18.杨天石.多路径效应对GPS精密定位的影响及消除方法分析.勘查科学技术[J],2006 (3)：53-56.
19.张波,黄劲松,苏林.利用信噪比削弱GPS多路径效应的研究.测绘科学[J].2003,9(3)：32-35.
20.熊波,万卫星.GPS卫星信标信噪比的统计分析.空间科学学报.2006,26(5)：326-330.
21.袁运彬.基于GPS的电离层监测及延迟改正理论与方法的研究[D].武汉：中科院测地所,2002：45-86.
22. Tran, M., "Performance Evaluations of the New GPS L5 and L2 Civil (L2C) Signals", Journal of Institute of Navigation, Vol.51, No 3, Fall 2004 pp 199-21.
23. Carlos Hernandez Medel. SISA Computation Algorithm and their applicability for GALILEO Intergrity[J]. ION GNSS International Meeting of the Satellite Division,24-27 Sept. 2002, Portland, OR.2002:2173-2184.
24. Wolfgang Werner, Theodor Zink. GALILEO Integrity Performance Assessment (GIPA)[J]. ION GPS International Meeting of the Satellite Division,11-14 Sept.2001, Salt Lake City, UT,2001:1838-1849.
25. Veit Oehler, Francesco Luongo, Hans L. Trautenberg, Juan-Pablo Boyero, Jan Krueger, Tanja Rang. The GALILEO Integrity Concept and Performance. GALILEO-Industries GmbH.
26. Teunissen P J G. Quality Control in Geodetic Networks. In:Grafarend, Sanso, eds. Optimization and Design of Geodetic Networks[J]. Berlin:Springer Verlag,1984:526-547.
27. Shaojun Feng and Washington Y. Ochieng. An Efficient Worst User Location Algorithm for the Generation of the GALILEO Integrity Flag[J]. ION GNSS International Meeting of the Satellite Division,13-16 Sept.2005, Long Beach,CA.2005:2374-2384.
28. Wolfgang W, Theodor Z. GALILEO integrity performance assessment results and recommendations. In:Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation:ION GPS/GNSS 2002. Portland OR,2002: 2185-2195.
29. Verhagen S. Performance analysis of GPS GALILEO and integrated GPSGALILEO[J]. In:Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation:ION GPS/GNSS 2002. Portland OR,2002:2208-2215
30.Mozo Garcia, Miguel M. Romay Merino, Belen Martin Peiro. A New System Level Integrity Concept for GALILEO:The Signal In Space Accuracy E.Herraiz-Monseco[J]. ION GPS International Meeting of the Satellite Division,11-14 Sept.2001, Salt Lake City, UT. 2001:1838-1849.
31. Gunter W.Hein, Theodor Zink AND Bernd Eissfeller. Integrity Monitoring Concepts for a Global Navigation Satellite System(GNSS-2)[J]. ION GPS 99, Nashville, TN,1999: 2149-2158.
32. "GALILEO Integrity Concept", ESA-APPNGTN/00391, issue TBD, June 10,2006.
33. "Direct Integrity Risk Computation at the Alter Limit", Presented at the ION-2004, Long Beach, CA, Sept.2004.
34. Helmut Blomenhofer, Walter Ehret. Performance Analysis of GNSS Global and Regional Integrity Concepts[J]. ION GNSS International Meeting of the Satellite Division,9-12 Sept. 2003, Portland, OR.2003:991-1001.
35. Stephane. On the GALILEO User Integrity Computation [J].2002:56-66.
36. R.B.Langley. The Itegrity of GPS, http://www.gpsworld.com/0699,1999.
37. R.GBrown and P.Hwang. GPS Failure Detection by Autonomous Mean within the Cochpit[J]. Proceeding of ION 42TH Annual Meeting,1986.9:1456-1463.
38. Y.Lee, Analysis of Range and Position Comparison Methods as a means to Provide GPS Integrity in the User Receiver[J]. Proceeding of Navigation 42TH Annual Meeting,1986.9: 456-462.
39. R.GBrown and P.W. Mcburney. Self-Contained GPS integrity Check Using Maximum Solution Separation, NAVIGATION, Journal of the Institute of Navigation,1988, Vol.35 No.1: 37-50.
40. B.W. Parkinson and P.Axelrad. Autonomous GPS Integrity Monitoring Using the Pseudorange Residual[J]. NAVIGATION, Journal of the Institute of Navigation,1988,Vol.35 No.1:45-54.
41. Timothy R. Schempp. An Application of Gaussian Overbounding for the WAAS Fault Free Eroor Analysis[J]. ION GNSS International Meeting of the Satellite Division,24-27 Sept. 2002, Portland, OR.2002:766-772.
42. Timothy R. Schempp, Sctephen R.Peck. WAAS Algorithm Contribution to Hazardously Mileading Information(HMI). ION GPS 2001, Salt Lake City, UT,2001:1831-1837.