精密单点定位相关技术问题研究
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摘要
GPS精密单点定位一直是一个热门话题,从它的出现到之后的发展,许多的学者都在进行研究,由于该技术的应用越加的广泛,该定位方法具有操作简便,不依赖其他参考站的特点,在近地卫星定轨,国土调查等领域都应很好的应用,因此,研究精密单点定位具有很好的理论意义和实用价值。精密单点定位要求得到精密的卫星轨道和卫星钟差信息通过IGS提供,进一步需要进行星历内插和钟差内插,以得到所需时刻的信息,目前已经可以采用多种方法进行内插,并能达到比较高的精度,在卫星距离求解中需要得到精确的卫星距离,这需要考虑测站相关误差、卫星相关误差影响以及传播路径相关误差,需要进行地球自转改正、对流层延迟改正、卫星天线相位偏差、电离层延迟改正等多种误差改正。另外,由于信号在传播过程中可能发生周跳,或者出现比较大的粗差,因此,必须对数据进行预处理,以获得更好的数据源。在精密单点定位中,还要涉及到参数估计,其目的是解算待求参数,目前有卡尔曼滤波,最小二乘、序贯平差等多种方法。在学习了精密单点定位的理论基础知识后,通过对整个流程的仔细分析,梳理,开始了对GPS精密单点定位的研究,本文的主要研究内容如下：
第一：探讨了用于精密单点定位的三种定位模型：传统模型、UofC模型、无模糊度模型,并分析了进行精密单点定位需要进行的误差改正模型,研究了数据预处理的方法,对参数估计方法进行了介绍和比较。
第二：运用高次差法,相位减伪距法、宽巷相位减窄巷伪距法,消电离层法四种方法进行周跳探测实验,比较分析了四种方法在数据预处理方面的精度和使用范围上的优缺点。并提出在本文使用宽巷相位减窄巷相位与电离层残差法联合进行数据与处理能较好的探测出周跳。
第三：结合实验数据分析了地球自转模型改正、相对论效应,对流层延迟等的改正大小,并研究了影响误差大小的主要因素。
第四：比较不同滤波初值对卡尔曼滤波的影响,根据实验数据,研究了噪声阵、过程噪声矩阵、增益矩阵、预测协方差阵之间的关系。
第五：本文以matlab7.0作为编程工具分别使用最小二乘平差方法和卡尔曼滤波算法对数据进行处理,卡尔曼滤波解算精度高,并且在收敛后单历元解算精度高,因此不仅适合静态单点定位还适合动态单点定位。分别使用快速星历和最终星历进行卡尔曼滤波计算,对两种星历进行比较。
GPS Precise Point Positioning(PPP) is a hot research, PPP is easy to operate, and does not depend on the other reference stations, it plays an important part in the near-earth satellite orbit determination and investigation. therefore,PPP is good in theoretical significance and practical value. PPP requires precise satellite orbit and satellite clock error, and it needs to download precise ephemeris and precise clock provided from IGS. In addition,we need to interpolate ephemeris and clock error to get the data information. There have been a variety of methods for interpolation which can be achieved with a relatively high accuracy. It also need to get the precise distance of the satellite which is related to the station errors, satellite related errors and propagation path related errors.So we must make the corrections such as the earth's rotation correction, satellite antenna phase deviation, Ionospheric delay and tropospheric delay. Moreover,week jump and large gross error signal may occur in the dissemination process,so data must be preprocessed. Parameter estimation is also important in PPP,which purpose is to calculate the unknown parameters. There are many methods such as Kalman filtering, least squares and sequential adjustment right now. Based on the above knowledge,I carried out the study. The main research of this thesis are as follows:
First:To investigate three position models for PPP:the traditional model, UofC model and no ambiguity model. It analyzes error correction model and data preprocessing methods which are required in PPP.It also introduces and compares the data preprocessing methods and parameter estimation methods.
Second:In this thesis, high order difference method, phase minus code pseudo-range, Ionosphere residual error method and the M-W have been applied in cycle slip detection.And analysis of these four methods are compared. The M-W and Ionospheric residuals are composed in this thesis so that it better to detect cycle slip.
Third:The size of the rotation of the earth model corrections, the effect of the relativity theory and the tropospheric delay correction are analyzed.Meanwhile, it studies the main factors that affect the size of the error.
Fourth:Comparing the impact of the different initial values of the Kalman filtering, according to the experimental data, the relationships of noise array, matrix of the process noise, gain matrix and prediction covariance matrix are studied.
Fifth:This thesis based on matlab7.0as a programming tool to uses the least squares estimation and Kalman filter algorithm for data processing. Kalman filtering has high solution precision, and after convergence the single epoch is also high precision.So kalman filtering is not only suitable for static single-point positioning but also suitable for the kinematic single point positioning. Using rapid ephemeris and final ephemeris for Kalman filter calculation, we find that using the final ephemeris is better than rapid ephemeris, but the rapid ephemeris and the final ephemeris solver are basically the same. So in the case of a less demanding and time emergency,we can directly use the rapid ephemeris.
第一：探讨了用于精密单点定位的三种定位模型：传统模型、UofC模型、无模糊度模型,并分析了进行精密单点定位需要进行的误差改正模型,研究了数据预处理的方法,对参数估计方法进行了介绍和比较。
第二：运用高次差法,相位减伪距法、宽巷相位减窄巷伪距法,消电离层法四种方法进行周跳探测实验,比较分析了四种方法在数据预处理方面的精度和使用范围上的优缺点。并提出在本文使用宽巷相位减窄巷相位与电离层残差法联合进行数据与处理能较好的探测出周跳。
第三：结合实验数据分析了地球自转模型改正、相对论效应,对流层延迟等的改正大小,并研究了影响误差大小的主要因素。
第四：比较不同滤波初值对卡尔曼滤波的影响,根据实验数据,研究了噪声阵、过程噪声矩阵、增益矩阵、预测协方差阵之间的关系。
第五：本文以matlab7.0作为编程工具分别使用最小二乘平差方法和卡尔曼滤波算法对数据进行处理,卡尔曼滤波解算精度高,并且在收敛后单历元解算精度高,因此不仅适合静态单点定位还适合动态单点定位。分别使用快速星历和最终星历进行卡尔曼滤波计算,对两种星历进行比较。
GPS Precise Point Positioning(PPP) is a hot research, PPP is easy to operate, and does not depend on the other reference stations, it plays an important part in the near-earth satellite orbit determination and investigation. therefore,PPP is good in theoretical significance and practical value. PPP requires precise satellite orbit and satellite clock error, and it needs to download precise ephemeris and precise clock provided from IGS. In addition,we need to interpolate ephemeris and clock error to get the data information. There have been a variety of methods for interpolation which can be achieved with a relatively high accuracy. It also need to get the precise distance of the satellite which is related to the station errors, satellite related errors and propagation path related errors.So we must make the corrections such as the earth's rotation correction, satellite antenna phase deviation, Ionospheric delay and tropospheric delay. Moreover,week jump and large gross error signal may occur in the dissemination process,so data must be preprocessed. Parameter estimation is also important in PPP,which purpose is to calculate the unknown parameters. There are many methods such as Kalman filtering, least squares and sequential adjustment right now. Based on the above knowledge,I carried out the study. The main research of this thesis are as follows:
First:To investigate three position models for PPP:the traditional model, UofC model and no ambiguity model. It analyzes error correction model and data preprocessing methods which are required in PPP.It also introduces and compares the data preprocessing methods and parameter estimation methods.
Second:In this thesis, high order difference method, phase minus code pseudo-range, Ionosphere residual error method and the M-W have been applied in cycle slip detection.And analysis of these four methods are compared. The M-W and Ionospheric residuals are composed in this thesis so that it better to detect cycle slip.
Third:The size of the rotation of the earth model corrections, the effect of the relativity theory and the tropospheric delay correction are analyzed.Meanwhile, it studies the main factors that affect the size of the error.
Fourth:Comparing the impact of the different initial values of the Kalman filtering, according to the experimental data, the relationships of noise array, matrix of the process noise, gain matrix and prediction covariance matrix are studied.
Fifth:This thesis based on matlab7.0as a programming tool to uses the least squares estimation and Kalman filter algorithm for data processing. Kalman filtering has high solution precision, and after convergence the single epoch is also high precision.So kalman filtering is not only suitable for static single-point positioning but also suitable for the kinematic single point positioning. Using rapid ephemeris and final ephemeris for Kalman filter calculation, we find that using the final ephemeris is better than rapid ephemeris, but the rapid ephemeris and the final ephemeris solver are basically the same. So in the case of a less demanding and time emergency,we can directly use the rapid ephemeris.
引文
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(3]陈俊勇.美国GPS现代化概述[J].测绘通报,2000,(8)：44-45.
[4]张小红,刘经南.Rene Forsberg.基于精密单点定位技术的航空测量应用实践[J].武汉大学学报信息科学版,2006,31(1)：19-22.
[5]李征航,黄劲松.GPS测量与数据处理[M].武汉：武汉大学出版社,2005：197.
[6]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.
[7]Zumberge J, Heflin M, Jefferson D, et al. Precise Point Positioning for the Efficient and Robust Analysis of GPS Data from Large Networks[J]. Journal of Geophysical Research,1997,102(B3):5005-5017.
[8]Melbourne, W. G. The case for ranging in GPS based geodetic Systems[J]. See Goad, 1995:343-386
[9]Kouba J,Herous H. Precise Point Positioning using IGS orbit and clock Products[J]. GPS Solutions,2001,5(2):12-28.
[10]张小红,李星星,郭斐等.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)：783-787.1
[11]Muellerschoen,R.J.,B-Iijima,R.Meyer, et al.Real-Time Point Positioning Performance Evaluation of Single-Frequency Receivers Using NASA's Global Differential GPS System[J],2003.
[12]Gao Yang, Chen Kongzhe. Performance Analysis of Precise Point Positioning Using Real-time Orbit and Clock Products[C]. The 2004 International Sympo-sium Oil GNSS/GPS, Sydney,2004.
[13]Gao,X.Shen,Improving Ambiguity Convergence in Carrier Phase-Based Precise Point Positioning, ION2001, Salt Lake City, USA, September,2001.
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[17]Zhang X H, Forsberg R. Assessment of long-range kinematic GPS Positioning errors by comparison with airborne laser altimetry and satellite altimetry [M]. Journal Of Geodesy 2007,81(3):201-211.
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[21]Ray. J. and J. Griffiths. Overview of IGS Products & Analysis Center Modeling[C]. International GNSS Service Analysis Center Workshop 2008, Miami Beach, Florida, USA,2008.
[22]任超.GPS高精度定位理论及其在有轨载体定位中的应用[D].武汉：中国科学院测量与地球物理研究所,2004.
[23]http://www.igs.org/components/
[24]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.
[25]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.
[26]杨光.GPS和伪卫星组合定位技术及其在形变监测中的应用研究：[D].南京：河海大学,2004.
[27]邵占英,葛茂荣,刘经南.GPS定位中对流层折射率随机模型的研究[J].地壳形变与地震,1996(02),1-7.
[28]李延兴.GPS测量大气折射模型研究[J].中国地震,1995(01),21-30
[29]殷海涛,黄丁发,熊永良等.GPS信号对流层延迟改正新模型研究[J].武汉大学学报(信息科学版),2007(05),454-457.
[30]党亚明,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.
[31]程鹏飞,蔡艳辉,文汉江等.全球卫星导航系统：GPS, GLONASS, Glaileo及其他系统[M].北京：测绘出版社,2009.
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[2]陈俊勇.GPS现代化重大进展——GPS L5和L3频率的发射[J].全球定位系统,2009,(4)：7.
(3]陈俊勇.美国GPS现代化概述[J].测绘通报,2000,(8)：44-45.
[4]张小红,刘经南.Rene Forsberg.基于精密单点定位技术的航空测量应用实践[J].武汉大学学报信息科学版,2006,31(1)：19-22.
[5]李征航,黄劲松.GPS测量与数据处理[M].武汉：武汉大学出版社,2005：197.
[6]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.
[7]Zumberge J, Heflin M, Jefferson D, et al. Precise Point Positioning for the Efficient and Robust Analysis of GPS Data from Large Networks[J]. Journal of Geophysical Research,1997,102(B3):5005-5017.
[8]Melbourne, W. G. The case for ranging in GPS based geodetic Systems[J]. See Goad, 1995:343-386
[9]Kouba J,Herous H. Precise Point Positioning using IGS orbit and clock Products[J]. GPS Solutions,2001,5(2):12-28.
[10]张小红,李星星,郭斐等.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)：783-787.1
[11]Muellerschoen,R.J.,B-Iijima,R.Meyer, et al.Real-Time Point Positioning Performance Evaluation of Single-Frequency Receivers Using NASA's Global Differential GPS System[J],2003.
[12]Gao Yang, Chen Kongzhe. Performance Analysis of Precise Point Positioning Using Real-time Orbit and Clock Products[C]. The 2004 International Sympo-sium Oil GNSS/GPS, Sydney,2004.
[13]Gao,X.Shen,Improving Ambiguity Convergence in Carrier Phase-Based Precise Point Positioning, ION2001, Salt Lake City, USA, September,2001.
[14]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.
[15]张小红.动态精密单点定位(PPP)的精度分析[J].全球定位系统,2006,31(1)：7-11.
[16]Zhang X H, Anderson OB. Surface ice flow velocity and tide retrieval of the Amery ice shelf Using Precise Point Positioning [M]. Journal of Geodesy,2006,80(4):171-176.
[17]Zhang X H, Forsberg R. Assessment of long-range kinematic GPS Positioning errors by comparison with airborne laser altimetry and satellite altimetry [M]. Journal Of Geodesy 2007,81(3):201-211.
[18]CHEN W, HU C W et al. Absolute Ionospheric Delay Estimation Based on GPS PPP and GPS Active Network[A], The 2004 International Symposium on GNSS/GPS[C], Sydney, Australia,6-8 December 2004.
[19]胡丛玮,陈武,高山,陈永奇,丁晓利.GPS精密单点定位的数据处理(英文)[J]；Transactions of Nanjing University of Aeronautics & Astronau; 2005年02期。
[20]韩保民,欧吉坤,基于GPS非差观测值进行精密单点定位研究[J];武汉大学学报(信息科学版),2003年04期.
[21]Ray. J. and J. Griffiths. Overview of IGS Products & Analysis Center Modeling[C]. International GNSS Service Analysis Center Workshop 2008, Miami Beach, Florida, USA,2008.
[22]任超.GPS高精度定位理论及其在有轨载体定位中的应用[D].武汉：中国科学院测量与地球物理研究所,2004.
[23]http://www.igs.org/components/
[24]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.
[25]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.
[26]杨光.GPS和伪卫星组合定位技术及其在形变监测中的应用研究：[D].南京：河海大学,2004.
[27]邵占英,葛茂荣,刘经南.GPS定位中对流层折射率随机模型的研究[J].地壳形变与地震,1996(02),1-7.
[28]李延兴.GPS测量大气折射模型研究[J].中国地震,1995(01),21-30
[29]殷海涛,黄丁发,熊永良等.GPS信号对流层延迟改正新模型研究[J].武汉大学学报(信息科学版),2007(05),454-457.
[30]党亚明,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.
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