GPS动态精密单点定位的应用研究
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摘要
GPS动态精密单点定位以其作业简便,不依赖于其他基准站系统等优点,可广泛应用于精密导航定位、GIS数据采集、科学考察等领域,成为近年来一个研究热点。
GPS精密单点定位是利用从IGS网站下载的精密星历和精密卫星钟差通过拉格朗日多项式进行内插处理和双频观测值,通过对双频观测值进行组合可以消除电离层延迟的影响,并利用组合模型对载波相观测值的周跳进行探测。利用Saastamoinen模型对对流层延迟进行改正。同时对地球自转影响、相对论效应等进行改正。通过组合观测值模型利用最小二乘估计法获得测站点在ITRF下高精度坐标。
本文分析了常用的精密单点定位的数学模型,通过编写程序并利用观测数据进行实验分析。经计算证明,动态精密单点定位单历元解算可以获得优于1米的点位精度。
Kinematic Precise Point Positioning(PPP) could be widely used in precise navigation and positioning, data collection for GIS, science investigation owing to its strongpoint of convenient operating and non base station. At present, PPP is one of focuses in GPS research.
We interpolate the precise orbit and satellite clock errors which downloaded from IGS with Lagrange , and use the dual frequency carrier phase and pseudo-range observations. The combination of dual carrier phase can be used to eliminate the delay influence of ionosphere delay, and also be used to detect the cycle slip. In PPP, the delay of troposphere can be corrected with the Saastamoinen model. Besides, the influence of the earth rotation and relativity effect will affect the range and the satellite clock, also should be corrected. Build the PPP observation equation, then we could get the coordinate in ITRF by Least Square evaluation.
In this paper, three model of PPP were analysed by programimg to manage the observe data. It is proved that, by single epoch solution, kinematic Precise Point Positioning can get the coordinate with less than one meter precision.
GPS精密单点定位是利用从IGS网站下载的精密星历和精密卫星钟差通过拉格朗日多项式进行内插处理和双频观测值,通过对双频观测值进行组合可以消除电离层延迟的影响,并利用组合模型对载波相观测值的周跳进行探测。利用Saastamoinen模型对对流层延迟进行改正。同时对地球自转影响、相对论效应等进行改正。通过组合观测值模型利用最小二乘估计法获得测站点在ITRF下高精度坐标。
本文分析了常用的精密单点定位的数学模型,通过编写程序并利用观测数据进行实验分析。经计算证明,动态精密单点定位单历元解算可以获得优于1米的点位精度。
Kinematic Precise Point Positioning(PPP) could be widely used in precise navigation and positioning, data collection for GIS, science investigation owing to its strongpoint of convenient operating and non base station. At present, PPP is one of focuses in GPS research.
We interpolate the precise orbit and satellite clock errors which downloaded from IGS with Lagrange , and use the dual frequency carrier phase and pseudo-range observations. The combination of dual carrier phase can be used to eliminate the delay influence of ionosphere delay, and also be used to detect the cycle slip. In PPP, the delay of troposphere can be corrected with the Saastamoinen model. Besides, the influence of the earth rotation and relativity effect will affect the range and the satellite clock, also should be corrected. Build the PPP observation equation, then we could get the coordinate in ITRF by Least Square evaluation.
In this paper, three model of PPP were analysed by programimg to manage the observe data. It is proved that, by single epoch solution, kinematic Precise Point Positioning can get the coordinate with less than one meter precision.
引文
[1]李征航,GPS测量与数据处理[M].武汉大学出版社,2005
[2]刘基余,GPS卫星导航定位原理与方法[M].科学出版社,2003
[3]蔡昌盛、李征航、张小红,SA取消后GPS单点定位精度分析[J].测绘信息工程,2002,3: 24-25
[4]刘经南、刘晖,连续运行卫星定位服务系统——城市空间数据的基础设施[J].武汉大学学报(信息科学版),2003,3:259-264
[5]吴北平,GPS网络RTK定位原理与数学模型研究[D].武汉大学,2003
[6] Heroux P,Caissy M,Gallace J. Canadian active control system data acquisition and validation[J].In Proceedings of the 1993 IGS Workshop ,University of Berne,1993:49-58
[7] Ferland,R,ITRF Coordinator report,1999 Annual Report,In press ,1999
[8] Kouba,J. and Heroux,P. (2001) "Precise Point Positioning Using IGS Orbit and Clock Products." GPS Solutions, 5(2): 12-28.
[9] Zumberge, J. F., Heflin, M. B., Jefferson, D. C., Watkins, M. M. and Webb, F. H. (1997) "Precise point positioning for the efficient and robust analysis of GPS data from large networks." Journal of Geophysical Research, 102(B3): 5005-5017.
[10] Me1bourne W G , The case for ranging in GPS based geodetic Systems[J]. See Goad,1995:343-386
[11] Hatch R. Dynamic Differential GPS at the Centimeter Level[C].Proceedings of the 4th International Geodetic Symposium on Satellite Positioning,DMA,Las Cruees,New Mexico,1982,Feb.8-12
[12]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
[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]陈小明,高精度GPS动态定位的理论与实践[D].武汉:武汉大学,1999
[15]张小红,动态精度单点定位(PPP)的精度分析[J].全球定位系统,2006,1: 7-11
[16]李征航,吴秀娟,全球定位系统(GPS)技术的最新进展第四讲精密单点定位(上)[J].测绘信息与工程,2002,27(5):34-37
[17]韦建超,GPS精密单点定位的数据处理研究[硕士论文].长沙:中南大学2007
[18] Gao, Y. and Shen, X. (2002) "A New Method for Carrier-Phase-BasedPrecise Point Positioning." Navigation: Journal of The Institute of Navigation, 49(2): 109-116
[19] Bisnath S B and R B Langley. CHAMP orbit determination with GPS phase connected Precise Point Positioning,In First CHAMP Mission Results for Gravity,Magnetic and Atmospheric Studies[J].Springer,Berlin,2003,59-64
[20] Bock H.,Efficient Methods for Determining Prceise orbits of Low Earth Orbiters Using the Global Positioning System , PHD thesis.Astronomical Institute University of Berne,Schwitzerland
[21] http://igscb.jpl.nasa.gov/components/prods_cb.html
[22]金双根、朱文耀,ITRF2000参考框架的评价及其探讨.武汉大学学报(信息科学版),2002,6: 598-603
[23]刘大杰、陶本藻,实用测量数据处理方法[M].测绘出版社,2000
[24]孔巧丽,用切贝雪夫多项式拟合GPS卫星精密坐标.测绘通报[J],2006,8:1-3
[25]季善标、朱文耀、熊永清,精密GPS卫星钟差的改正和应用.空间科学学报[J],2001,21(1):42-48
[26]郭东美,低轨卫星定轨中精密卫星钟差的插值方法.大地测量与地球动力学[J],2007,27(2):103-106
[27]李征航等,空间大地测量理论基础[M].武汉测绘科技大学出版社,1998 [28]周旭华、吴斌、李军,高精度大地测量中的海潮位移改正[J].测绘学报, 2001,30(9):327-330
[29]许厚泽、毛伟建,中国大陆的海洋负荷潮汐改正模型[J].中国科学,1988,(9):984-994
[30] Klobuchar J A , Ionospheric Time Delay Algorithm for Single Frequency GPS Users[J].IEEE Transactions on Aerospace and Electronic Systems,1987,23(3):325-331
[31]张小红,GPS单频精密单点定位软件实现与精度分析[J].武汉大学学报(信息科学版),2008,33(8):783-787
[32] Saastamoinen J , Atmospheric correction for troposphere and stratosphere in radio ranging of satellites[J]The use of artificial satellites for Geodesy,1972:247-251
[33] Hopfield H S,Two-quartic Tropospheric Refractivity Profile for Correcting Satellite Data[J].Journal of Geophysical Research,1969,74(18):4487-4499
[34]宋伟伟、姚宜斌、罗峰,精密单点定位中周跳探测与修复方法研究[J].测绘信息与工程,2007,32(3):34-35
[35]韩绍伟, GPS组合观测值理论及应用[J].测绘学报,1995,24(2):813
[36]黄爱萱,利用GPS组合观测值探测修复周跳的方法比较[J].测绘工程,2007,16(4):25-29
[37] Melbourne W G,The case for ranging in GPS based geodetic sytems[J].See Goad,1985:373-386
[38] Wubbena G,Software development for geodetic positioning with GPS using Tl-4100 code and carrier measurements[J].See Goad ,1985:403-412
[39]李征航、吴秀娟,全球定位系统(GPS)技术的最新进展第四讲精密单点定位(下)[J].测绘信息与工程,2002,27(6):31-35
[40]范士杰,GPS双频相位平滑伪距及其单点定位的精度研究[J].测绘工程,2005,14(4):39-42
[41]范士杰、孔祥元,基于Hatch滤波的GPS伪距相位平滑及其在单点定位中的应用[J].勘察科学技术,2007,4:40-42
[42]唐卫明,GPS载波相位平滑伪距精度分析与应用探讨[J].测绘信息与工程,2005,30(3):37-39
[43]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].武汉大学出版社,2003
[44]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[硕士论文].武汉:武汉大学,2003
[2]刘基余,GPS卫星导航定位原理与方法[M].科学出版社,2003
[3]蔡昌盛、李征航、张小红,SA取消后GPS单点定位精度分析[J].测绘信息工程,2002,3: 24-25
[4]刘经南、刘晖,连续运行卫星定位服务系统——城市空间数据的基础设施[J].武汉大学学报(信息科学版),2003,3:259-264
[5]吴北平,GPS网络RTK定位原理与数学模型研究[D].武汉大学,2003
[6] Heroux P,Caissy M,Gallace J. Canadian active control system data acquisition and validation[J].In Proceedings of the 1993 IGS Workshop ,University of Berne,1993:49-58
[7] Ferland,R,ITRF Coordinator report,1999 Annual Report,In press ,1999
[8] Kouba,J. and Heroux,P. (2001) "Precise Point Positioning Using IGS Orbit and Clock Products." GPS Solutions, 5(2): 12-28.
[9] Zumberge, J. F., Heflin, M. B., Jefferson, D. C., Watkins, M. M. and Webb, F. H. (1997) "Precise point positioning for the efficient and robust analysis of GPS data from large networks." Journal of Geophysical Research, 102(B3): 5005-5017.
[10] Me1bourne W G , The case for ranging in GPS based geodetic Systems[J]. See Goad,1995:343-386
[11] Hatch R. Dynamic Differential GPS at the Centimeter Level[C].Proceedings of the 4th International Geodetic Symposium on Satellite Positioning,DMA,Las Cruees,New Mexico,1982,Feb.8-12
[12]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
[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]陈小明,高精度GPS动态定位的理论与实践[D].武汉:武汉大学,1999
[15]张小红,动态精度单点定位(PPP)的精度分析[J].全球定位系统,2006,1: 7-11
[16]李征航,吴秀娟,全球定位系统(GPS)技术的最新进展第四讲精密单点定位(上)[J].测绘信息与工程,2002,27(5):34-37
[17]韦建超,GPS精密单点定位的数据处理研究[硕士论文].长沙:中南大学2007
[18] Gao, Y. and Shen, X. (2002) "A New Method for Carrier-Phase-BasedPrecise Point Positioning." Navigation: Journal of The Institute of Navigation, 49(2): 109-116
[19] Bisnath S B and R B Langley. CHAMP orbit determination with GPS phase connected Precise Point Positioning,In First CHAMP Mission Results for Gravity,Magnetic and Atmospheric Studies[J].Springer,Berlin,2003,59-64
[20] Bock H.,Efficient Methods for Determining Prceise orbits of Low Earth Orbiters Using the Global Positioning System , PHD thesis.Astronomical Institute University of Berne,Schwitzerland
[21] http://igscb.jpl.nasa.gov/components/prods_cb.html
[22]金双根、朱文耀,ITRF2000参考框架的评价及其探讨.武汉大学学报(信息科学版),2002,6: 598-603
[23]刘大杰、陶本藻,实用测量数据处理方法[M].测绘出版社,2000
[24]孔巧丽,用切贝雪夫多项式拟合GPS卫星精密坐标.测绘通报[J],2006,8:1-3
[25]季善标、朱文耀、熊永清,精密GPS卫星钟差的改正和应用.空间科学学报[J],2001,21(1):42-48
[26]郭东美,低轨卫星定轨中精密卫星钟差的插值方法.大地测量与地球动力学[J],2007,27(2):103-106
[27]李征航等,空间大地测量理论基础[M].武汉测绘科技大学出版社,1998 [28]周旭华、吴斌、李军,高精度大地测量中的海潮位移改正[J].测绘学报, 2001,30(9):327-330
[29]许厚泽、毛伟建,中国大陆的海洋负荷潮汐改正模型[J].中国科学,1988,(9):984-994
[30] Klobuchar J A , Ionospheric Time Delay Algorithm for Single Frequency GPS Users[J].IEEE Transactions on Aerospace and Electronic Systems,1987,23(3):325-331
[31]张小红,GPS单频精密单点定位软件实现与精度分析[J].武汉大学学报(信息科学版),2008,33(8):783-787
[32] Saastamoinen J , Atmospheric correction for troposphere and stratosphere in radio ranging of satellites[J]The use of artificial satellites for Geodesy,1972:247-251
[33] Hopfield H S,Two-quartic Tropospheric Refractivity Profile for Correcting Satellite Data[J].Journal of Geophysical Research,1969,74(18):4487-4499
[34]宋伟伟、姚宜斌、罗峰,精密单点定位中周跳探测与修复方法研究[J].测绘信息与工程,2007,32(3):34-35
[35]韩绍伟, GPS组合观测值理论及应用[J].测绘学报,1995,24(2):813
[36]黄爱萱,利用GPS组合观测值探测修复周跳的方法比较[J].测绘工程,2007,16(4):25-29
[37] Melbourne W G,The case for ranging in GPS based geodetic sytems[J].See Goad,1985:373-386
[38] Wubbena G,Software development for geodetic positioning with GPS using Tl-4100 code and carrier measurements[J].See Goad ,1985:403-412
[39]李征航、吴秀娟,全球定位系统(GPS)技术的最新进展第四讲精密单点定位(下)[J].测绘信息与工程,2002,27(6):31-35
[40]范士杰,GPS双频相位平滑伪距及其单点定位的精度研究[J].测绘工程,2005,14(4):39-42
[41]范士杰、孔祥元,基于Hatch滤波的GPS伪距相位平滑及其在单点定位中的应用[J].勘察科学技术,2007,4:40-42
[42]唐卫明,GPS载波相位平滑伪距精度分析与应用探讨[J].测绘信息与工程,2005,30(3):37-39
[43]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].武汉大学出版社,2003
[44]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[硕士论文].武汉:武汉大学,2003