载波相位测量的定位解算算法研究
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摘要
卫星导航定位技术作为世界上最先进的导航与定位系统,随着其在全球的普及,日益显示了卫星导航的巨大优越性和其在经济、军事领域的重大作用。在导航战中,GPS实时准确地为地面、空中、海上部队和导航发射、制导提供了导航定位数据。因此研究GPS导航定位技术已成为当务之急。
本文主要针对GPS载波相位测量定位解算算法,做了较为深入的理论分析,提出了相应的算法,并进行了计算机仿真分析。论文首先详细阐述了GPS系统的概况,然后介绍了GPS定位方式和整周模糊度与周跳的相关研究以及国内外的研究现状。其次研究了GPS绝对定位解算算法,分别讨论了利用伪码测量的绝对定位和载波相位测量的绝对定位,提出了一种新的基于QR分解的递推解算算法,并结合递推最小二乘法进行了仿真分析。再次研究了载波相位测量的整周模糊度解算理论,介绍几种典型的OTF方法,并分析了各种方法的优缺点,针对单点绝对定位问题对模糊度搜索方法进行了改进,给出了实际算例的仿真验证;最后介绍了目前处理周跳的一些有效方法,并对其进行了算例仿真,提出了一种基于奇偶矢量法的周跳探测与修复的算法,并通过实际算例仿真进行验证,取得了较理想的结果。论文的最后概括了本文的研究意义、研究目的和工作内容,并指出下一步的研究内容。
As the most advanced navigation and positioning system in the world nowadays,GPS is used widely especially on martial aspects,satellite positioning technology is becoming a hot spot.In the war of navigation,usage of GPS has become essential for precise command control and the precision of attacks and armed force deployment and influence the means and effects of the war at its every phase.So research on the technology of the GPS positioning has become the urgent task.
In this thesis, the problems in resolving position of GPS carrier phase measurement are studied and the improving algorithm is proposed and simulated. There are two purposes of my paper:one is searching for how to increase the accuracy of the pseudorange and the speed of solutions;the other is detect and compensate the cycle slip of GPS carrier in the period of navigation process.Firstly, the principle of GPS positioning, Integer Ambiguity and cycle slip is introduced concisely. And then new methods for increasing the accuracy of the pseudorange and the speed of solutions are presented. They are using recursive emendatory Gram-Schmidt method or recursive Householder transformation to solve which based on QR-factorization. Thirdly, introduce kinds of OTF methods. Fourthly, new methods for enhancing detection capability are presented. Firstly, using Kalman filter in the model of the 3rd order polynomial to pretreat the carrier phase, and then a parity vector test method is used to detect cycle slips. Finally, some conclusions are obtained, some new ideals are provided.
本文主要针对GPS载波相位测量定位解算算法,做了较为深入的理论分析,提出了相应的算法,并进行了计算机仿真分析。论文首先详细阐述了GPS系统的概况,然后介绍了GPS定位方式和整周模糊度与周跳的相关研究以及国内外的研究现状。其次研究了GPS绝对定位解算算法,分别讨论了利用伪码测量的绝对定位和载波相位测量的绝对定位,提出了一种新的基于QR分解的递推解算算法,并结合递推最小二乘法进行了仿真分析。再次研究了载波相位测量的整周模糊度解算理论,介绍几种典型的OTF方法,并分析了各种方法的优缺点,针对单点绝对定位问题对模糊度搜索方法进行了改进,给出了实际算例的仿真验证;最后介绍了目前处理周跳的一些有效方法,并对其进行了算例仿真,提出了一种基于奇偶矢量法的周跳探测与修复的算法,并通过实际算例仿真进行验证,取得了较理想的结果。论文的最后概括了本文的研究意义、研究目的和工作内容,并指出下一步的研究内容。
As the most advanced navigation and positioning system in the world nowadays,GPS is used widely especially on martial aspects,satellite positioning technology is becoming a hot spot.In the war of navigation,usage of GPS has become essential for precise command control and the precision of attacks and armed force deployment and influence the means and effects of the war at its every phase.So research on the technology of the GPS positioning has become the urgent task.
In this thesis, the problems in resolving position of GPS carrier phase measurement are studied and the improving algorithm is proposed and simulated. There are two purposes of my paper:one is searching for how to increase the accuracy of the pseudorange and the speed of solutions;the other is detect and compensate the cycle slip of GPS carrier in the period of navigation process.Firstly, the principle of GPS positioning, Integer Ambiguity and cycle slip is introduced concisely. And then new methods for increasing the accuracy of the pseudorange and the speed of solutions are presented. They are using recursive emendatory Gram-Schmidt method or recursive Householder transformation to solve which based on QR-factorization. Thirdly, introduce kinds of OTF methods. Fourthly, new methods for enhancing detection capability are presented. Firstly, using Kalman filter in the model of the 3rd order polynomial to pretreat the carrier phase, and then a parity vector test method is used to detect cycle slips. Finally, some conclusions are obtained, some new ideals are provided.
引文
[1]刘基余.GPS卫星导航定位原理与方法.北京:科学出版社,2003:1-26
[2]张守信.GPS卫星测量定位理论与应用.长沙:国防科技大学出版社,1996:40-48
[3] Thomas Herring. Modern Navigation. Massachusettes Institute of Technology, 2003:145-159
[4]金凯德.(王国荣等译).数值分析.北京:机械工业出版社,2005:256-259
[5]霍家道,郝燕玲.导航信号卡尔曼滤波定位解算方法研究.中国航海,2004(01):44-48
[6] Eunwoo Choi, David A. Cicci. Analysis of GPS static positioning problems.Applied Mathematics and Computation, 2003: 37-51
[7]张云鹏,缪栋,杨小冈.GPS伪距导航定位解算新算法研究.电子科技,2004(01):47-50
[8] Abel.J.S, Chaffee.J.W. Existence and Uniqueness of GPS Solutions. IEEE Transactions on Aerospace and Electronic System 1991(11): 952-956
[9] Joho B, Lundberg. Alternative algorithms for the GPS static positioning solution. IEEE USA Applied Mathematics and Computation 2001: 21-34
[10]刘根友.单频GPS接收机动态定位的相位与伪距联合算法及周跳检测.地壳形变与地震,2001, 21(08):26-31
[11]范胜林,秦岭等.GPS姿态系统中周跳的检测及修复方法.数据采集与处理,2002,17(01):50-53
[12]贾沛璋,吴连大.单频GPS周跳检测与估计算法.天文学报,2001,42(02):192-197
[13]王仁谦.GPS动态定位的理论研究:[博士学位论文].长沙:中南大学,2004
[14]陈小明,刘基余.GPS动态载波相位测量的波数在航解算.导航,1996,32(04):30-38
[15] Eunwoo Choi, etc. Analysis of GPS static positioning problems. Applied Mathematics and Computation, 2003: 37-25
[16]蔡艳辉,程鹏飞,李夕银.用卡尔曼滤波进行GPS动态定位.测绘通报,2006,7(03):6-8
[17]常青,高晖,柳重堪,张其善.GPS定位算法研究.遥测遥控,1998,9(05):6-11
[18]唐卫明.GPS载波相位平滑伪距精度分析与应用探讨.测绘信息与工程,2005,30(03) 37-39
[19] Deng Qiang,Huang Shunji. Research on GPS Code Pseudorange Smoothing Technique by Carrier Observables. Journal of UESTC of China, 1997, 26: 12-15
[20] Leva,J.L. An alternative closed-form solution to the GPS pseudo-range equations. IEEE Transactions on Aerospace and Electronic Systems, 1996, 32(04): 1430-1439
[21] Han, S. and C. Rios. Improving the computational efficiency of the ambiguity function algorithm. Journal of Geodesy, 1996, 70:330-341.
[22]刘立龙,刘基余,李广成.一种适合单频GPS动态求解模糊度的方法.飞行器测控学报,2005,25(01):6-10
[23]姬生月,欧吉坤,柳林涛.一种适合于单频接收机快速模糊数求解的新方法.武汉测绘科技大学学报,2000,25(02):108-112
[24]范胜林,赵伟,袁信.整周模糊度动态快速求解.电子科技大学学报,2005,34(01):90-93
[25] Teunissen, P.J.G. A New Method for Fast Carrier Phase Ambiguity Estimation. Proceedings of IEEE Position Location&Navigation. 1994(04): 562-573
[26] Teunissen, P.J.G. The Probability Distribution of the Ambiguity Boot strapped GNSS Baseline. Journal of Geodesy, 2001, 75:267-275.
[27]王永生.一种消除GPS模糊度相关性的新算法.航空学报,2002,23(06):542-546
[28] Mohamd A H, Schwarz K P. A simple and economical algorithm for GPS ambiguity resolution on the fly using whitening filters. Navigation, 1998, 45(3): 221-231
[29] Liu Jiyu. A Real-time Solution for GPS Measured Distances without Cycle Slips, Survey Review(UK),1993, 32(247): 31-38
[30]韩绍伟.附加约束条件的模糊度函数法及其在GPS相位差分动态定位中的应用.武汉测绘科技大学学报,1994, 19(01):7-14
[31] Vollath U, Birnbach S, Landau H, Analysis of Three-Carrier Ambiguity Resolution Technique for Precise Relative Positioning in GNSS-2. Journal of the Institute of Navigation, 1999,46(1):13:23
[32]秦永元,张洪钺,汪叔华.卡尔曼滤波与组合导航原理.西北工业大学出版社,1998,25-56
[33] Teunissen, P.J.G. The_least-squares_ambiguity_decorrelation_adjustment. Journal of Geodesy 1995, 70: 65-82
[34] Kihara M. Study of a GPS satellite selection policy to improve positioning accuracy. Position Location and Navigation Symposium,IEEE, 1994(04): 267-273
[2]张守信.GPS卫星测量定位理论与应用.长沙:国防科技大学出版社,1996:40-48
[3] Thomas Herring. Modern Navigation. Massachusettes Institute of Technology, 2003:145-159
[4]金凯德.(王国荣等译).数值分析.北京:机械工业出版社,2005:256-259
[5]霍家道,郝燕玲.导航信号卡尔曼滤波定位解算方法研究.中国航海,2004(01):44-48
[6] Eunwoo Choi, David A. Cicci. Analysis of GPS static positioning problems.Applied Mathematics and Computation, 2003: 37-51
[7]张云鹏,缪栋,杨小冈.GPS伪距导航定位解算新算法研究.电子科技,2004(01):47-50
[8] Abel.J.S, Chaffee.J.W. Existence and Uniqueness of GPS Solutions. IEEE Transactions on Aerospace and Electronic System 1991(11): 952-956
[9] Joho B, Lundberg. Alternative algorithms for the GPS static positioning solution. IEEE USA Applied Mathematics and Computation 2001: 21-34
[10]刘根友.单频GPS接收机动态定位的相位与伪距联合算法及周跳检测.地壳形变与地震,2001, 21(08):26-31
[11]范胜林,秦岭等.GPS姿态系统中周跳的检测及修复方法.数据采集与处理,2002,17(01):50-53
[12]贾沛璋,吴连大.单频GPS周跳检测与估计算法.天文学报,2001,42(02):192-197
[13]王仁谦.GPS动态定位的理论研究:[博士学位论文].长沙:中南大学,2004
[14]陈小明,刘基余.GPS动态载波相位测量的波数在航解算.导航,1996,32(04):30-38
[15] Eunwoo Choi, etc. Analysis of GPS static positioning problems. Applied Mathematics and Computation, 2003: 37-25
[16]蔡艳辉,程鹏飞,李夕银.用卡尔曼滤波进行GPS动态定位.测绘通报,2006,7(03):6-8
[17]常青,高晖,柳重堪,张其善.GPS定位算法研究.遥测遥控,1998,9(05):6-11
[18]唐卫明.GPS载波相位平滑伪距精度分析与应用探讨.测绘信息与工程,2005,30(03) 37-39
[19] Deng Qiang,Huang Shunji. Research on GPS Code Pseudorange Smoothing Technique by Carrier Observables. Journal of UESTC of China, 1997, 26: 12-15
[20] Leva,J.L. An alternative closed-form solution to the GPS pseudo-range equations. IEEE Transactions on Aerospace and Electronic Systems, 1996, 32(04): 1430-1439
[21] Han, S. and C. Rios. Improving the computational efficiency of the ambiguity function algorithm. Journal of Geodesy, 1996, 70:330-341.
[22]刘立龙,刘基余,李广成.一种适合单频GPS动态求解模糊度的方法.飞行器测控学报,2005,25(01):6-10
[23]姬生月,欧吉坤,柳林涛.一种适合于单频接收机快速模糊数求解的新方法.武汉测绘科技大学学报,2000,25(02):108-112
[24]范胜林,赵伟,袁信.整周模糊度动态快速求解.电子科技大学学报,2005,34(01):90-93
[25] Teunissen, P.J.G. A New Method for Fast Carrier Phase Ambiguity Estimation. Proceedings of IEEE Position Location&Navigation. 1994(04): 562-573
[26] Teunissen, P.J.G. The Probability Distribution of the Ambiguity Boot strapped GNSS Baseline. Journal of Geodesy, 2001, 75:267-275.
[27]王永生.一种消除GPS模糊度相关性的新算法.航空学报,2002,23(06):542-546
[28] Mohamd A H, Schwarz K P. A simple and economical algorithm for GPS ambiguity resolution on the fly using whitening filters. Navigation, 1998, 45(3): 221-231
[29] Liu Jiyu. A Real-time Solution for GPS Measured Distances without Cycle Slips, Survey Review(UK),1993, 32(247): 31-38
[30]韩绍伟.附加约束条件的模糊度函数法及其在GPS相位差分动态定位中的应用.武汉测绘科技大学学报,1994, 19(01):7-14
[31] Vollath U, Birnbach S, Landau H, Analysis of Three-Carrier Ambiguity Resolution Technique for Precise Relative Positioning in GNSS-2. Journal of the Institute of Navigation, 1999,46(1):13:23
[32]秦永元,张洪钺,汪叔华.卡尔曼滤波与组合导航原理.西北工业大学出版社,1998,25-56
[33] Teunissen, P.J.G. The_least-squares_ambiguity_decorrelation_adjustment. Journal of Geodesy 1995, 70: 65-82
[34] Kihara M. Study of a GPS satellite selection policy to improve positioning accuracy. Position Location and Navigation Symposium,IEEE, 1994(04): 267-273