GPS载波相位相对定位技术的研究
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摘要
全球卫星定位系统(GPS)是一个实时的,全天候,全方位的定位系统。设计此系统的最初目的只是为美国军事服务,如今却已扩展到诸多民用领域,包括民用导航与监控,交通管理,测绘科学与技术,土木工程,空间科学等等。随着全球定位系统的不断改进,硬、软件的不断完善,应用领域正在不断地开拓。
本文针对GPS的特点,介绍了一套比较基本的完整的GPS相对定位数据解算方法。利用GPS接收机所采集的数据,进行卫星位置的计算,用多项式拟合与载波相位双差观测值相结合对周跳进行探测与修复;介绍了几种求解模糊度的方法,重点分析了LAMBDA方法,通过计算机仿真,认为LAMBDA方法是确定整州模糊度比较有效的方法;利用精确载波相位观测值根据GPS测量定位方法及原理,介绍了载波相位定位技术,包括单差模型、双差模型以及三差模型,最后介绍了利用布尔沙七参数法进行不同坐标系下的坐标变换,
Global Positioning System (GPS) is a real-time, all-weather, full range of positioning systems. The original objection of designing such system is only servicing for military, but now it has been extended to many civilian areas, including civil navigation and control, traffic management, surveying and mapping science and technology, civil engineering, space science and so on. With the continuous improvement of the global positioning system, perfective of hard and soft parts, applications are constantly developing. In this paper, according to the characteristics of GPS, introduces a more integrity method of data solution about relative positioning, using the data that collected by GPS receivers to calculate the satalite position, combining polynomial fitting and double-difference carrier phase observations to detect and repair cycle slip. This paper introduces several methods for solving ambiguity, especially analys LAMBDA method, by computer simulating, that the LAMBDA method is the best way to solve ambiguity. With the using precise carrier phase measurements and basing on GPS positioning method and principle, introduces carrier phase positioning technologies, Include single model, double model and three model . At last,according to the needing of project, introducing using BURSA 7-Parameter Transformation to change the coordinate of different coordinate system.
本文针对GPS的特点,介绍了一套比较基本的完整的GPS相对定位数据解算方法。利用GPS接收机所采集的数据,进行卫星位置的计算,用多项式拟合与载波相位双差观测值相结合对周跳进行探测与修复;介绍了几种求解模糊度的方法,重点分析了LAMBDA方法,通过计算机仿真,认为LAMBDA方法是确定整州模糊度比较有效的方法;利用精确载波相位观测值根据GPS测量定位方法及原理,介绍了载波相位定位技术,包括单差模型、双差模型以及三差模型,最后介绍了利用布尔沙七参数法进行不同坐标系下的坐标变换,
Global Positioning System (GPS) is a real-time, all-weather, full range of positioning systems. The original objection of designing such system is only servicing for military, but now it has been extended to many civilian areas, including civil navigation and control, traffic management, surveying and mapping science and technology, civil engineering, space science and so on. With the continuous improvement of the global positioning system, perfective of hard and soft parts, applications are constantly developing. In this paper, according to the characteristics of GPS, introduces a more integrity method of data solution about relative positioning, using the data that collected by GPS receivers to calculate the satalite position, combining polynomial fitting and double-difference carrier phase observations to detect and repair cycle slip. This paper introduces several methods for solving ambiguity, especially analys LAMBDA method, by computer simulating, that the LAMBDA method is the best way to solve ambiguity. With the using precise carrier phase measurements and basing on GPS positioning method and principle, introduces carrier phase positioning technologies, Include single model, double model and three model . At last,according to the needing of project, introducing using BURSA 7-Parameter Transformation to change the coordinate of different coordinate system.
引文
[1]李征航,黄劲松.GPS测量与数据处理[M].武汉:武汉大学出版社,2005:98-120
[2]李建元.测量平差基础[M].北京:测绘出版社,1996:20-23
[3]李明,高星伟,徐爱功.一种改进的周跳多项式拟合方法[D].北京:中国测绘科学研究院,2008.
[4] BoueherC,AhmaimiZ,FeisseIM, et al. Results and analysis of the ITRF94[J],IERS technical note 20.1996(8):59-80.
[5] Yu Guorong, Sheng Renjun. Cycle slip detection and approach based on time-relative positioning theory[J]. Journal of Southeast University[J].2005.21(3):363-368.
[6]文道平. GPS相位观测值周跳探测与修复方法在工程中的应用研究[D].昆明:昆明理工大学,2006.
[7]王潜心. GPS数据处理软件中若干问题的研究[D].长沙:中南大学,2005.
[8] Ning Luo,Preeise Relative Positioning of MultiPle Moving Platforms Using GPS Carrier Phase Observables,Ph.D.Dissertation,Department of Geomatics Engineering[J],University of CalGary,January2001.
[9]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,1992:131-201.
[10]王广运,郭秉义,李洪涛.差分GPS定位技术与应用[M].北京:电子工业出版社,1996.1-20.
[11] Landau,H,H.Euler,On the Fly Ambiguity Resolution for Precise Differential Positioning,ProeeedingsoftheFifthIniernationalTeehniealMeetingoftheInstituteof Navigation[J].Albuquerque,1992(9):607-613.
[12]李江卫.GPS相位观测值中周跳的探测与修复算法研究[D].武汉:武汉大学,2004.
[13]彭秀英.GPS周跳探测与修复的算法研究与实现[D].北京:中国石油大学,2007.
[14] Teunissen, P.J.G, P.J.de Jonge, C.C.J.M.Tiberius, The least-squares ambiguity decorrelation adjustment: its performance on short GPS baselines and short observation spans[J]. Journal of Geodesy, 1997:589-602.
[15]谭兆伟.GPS精密单点定位周跳探测与修复方法研究[D].山东:山东科技大学,2009.
[16]高鹏.高精度GPS框架网的解算研究[D].昆明:昆明理工大学,2007.
[17]徐绍铨,张华海,杨志强,王泽民.GPS测量原理及应用[M](修订版).武汉:武汉大学出版社,2003:38-76.
[18]刘经南,陈俊勇,张燕平,李毓麟,葛茂荣.广域差分GPS原理和方法[M].测绘出版社,1999:123-150.
[19]周忠漠,易杰军,周琪.GPS卫星测量原来与应用(修订版)[M].北京:测绘出版社,1997:33-52.
[20]陶本藻.关于高精度GPS网平差基本观测量的选取问题.测绘通报,1999(9):6-8.
[21] M.Horemuz,L.E.Sjoberg,Rapid GPS Ambiguity Resolution for Short and Long Baselines[J].Joumal of Geodesy,2002(76):381一391.
[22] TeUnissen,P.J.G A canonical theory for short GPS baselines. PartⅠ: The baseline precision[J].Journal of Geodesy1997: 320-336.
[23]施闯.大规模高精度GPS网平差与分析理论及其应用[D].北京:测绘出版社,2002.
[24]黄丁发,熊永良,袁林果.全球定位系统(GPS)-理论与实践[M].成都:西南交通大学出版社,2006:120-160.
[25]孔祥元,郭际明,刘宗泉.大地测量学基础[M].武汉:武汉大学出版社,2001:85-108.
[26]陈树新.GPS整周模糊度动态确定的算法及性能研究[D].西安:西北工业大学,2007.
[27]魏子卿,葛茂荣.GPS相对定位的数学模型[D].北京:测绘出版社,1998
[28]张后苏,陈道清,李国强.误差理论与测量平差基础[M].长沙:中南工业大学出版社,1994:16-25.
[29] TeUnissen,P.J.G A canonical theory for short GPS baselines. PartⅡ: The baseline precision[J].Journal of Geodesy1997: 389-401.
[30] Baarda,W. A testing procedure for use in Geodetic Networks,publications on Geodesy[J],New Series,Netherlands Geodetic Commission 1968. 2(5).
[31]马少君.GPS控制网数据处理方法的研究[D].上海:同济大学,2008.
[32]陈石磊.GPS载波相位定位技术的研究[D].西安:西安电子科技大学,2008.
[33]刘忠.高精度GPS数据处理若干理论与技术问题研究[D].长安:长安大学,2006.
[34]生仁军.高精度GPS载波相位定位周跳探测方法的研究[D].南京:东南大学,2006.
[35]何晓峰. GPS快速精确相对定位技术[D].北京:国防科学技术大学,2003.
[36]刘鹏辉. GPS姿态测量及整周模糊度技术研究[D].太原:中北大学2007.
[37]李延兴,胡新康,赵成坤.GPS监测网数据处理方案研究[J].测绘学报,1999,25(l):62-66.
[38]姚宜斌.高精度GPS测量中坐标基准的统一方法研究[J].地矿测绘,2(3):3-6.
[39]边少锋.大地坐标系与大地基准[M].北京:国防工业出饭社,2005:40-120.
[2]李建元.测量平差基础[M].北京:测绘出版社,1996:20-23
[3]李明,高星伟,徐爱功.一种改进的周跳多项式拟合方法[D].北京:中国测绘科学研究院,2008.
[4] BoueherC,AhmaimiZ,FeisseIM, et al. Results and analysis of the ITRF94[J],IERS technical note 20.1996(8):59-80.
[5] Yu Guorong, Sheng Renjun. Cycle slip detection and approach based on time-relative positioning theory[J]. Journal of Southeast University[J].2005.21(3):363-368.
[6]文道平. GPS相位观测值周跳探测与修复方法在工程中的应用研究[D].昆明:昆明理工大学,2006.
[7]王潜心. GPS数据处理软件中若干问题的研究[D].长沙:中南大学,2005.
[8] Ning Luo,Preeise Relative Positioning of MultiPle Moving Platforms Using GPS Carrier Phase Observables,Ph.D.Dissertation,Department of Geomatics Engineering[J],University of CalGary,January2001.
[9]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,1992:131-201.
[10]王广运,郭秉义,李洪涛.差分GPS定位技术与应用[M].北京:电子工业出版社,1996.1-20.
[11] Landau,H,H.Euler,On the Fly Ambiguity Resolution for Precise Differential Positioning,ProeeedingsoftheFifthIniernationalTeehniealMeetingoftheInstituteof Navigation[J].Albuquerque,1992(9):607-613.
[12]李江卫.GPS相位观测值中周跳的探测与修复算法研究[D].武汉:武汉大学,2004.
[13]彭秀英.GPS周跳探测与修复的算法研究与实现[D].北京:中国石油大学,2007.
[14] Teunissen, P.J.G, P.J.de Jonge, C.C.J.M.Tiberius, The least-squares ambiguity decorrelation adjustment: its performance on short GPS baselines and short observation spans[J]. Journal of Geodesy, 1997:589-602.
[15]谭兆伟.GPS精密单点定位周跳探测与修复方法研究[D].山东:山东科技大学,2009.
[16]高鹏.高精度GPS框架网的解算研究[D].昆明:昆明理工大学,2007.
[17]徐绍铨,张华海,杨志强,王泽民.GPS测量原理及应用[M](修订版).武汉:武汉大学出版社,2003:38-76.
[18]刘经南,陈俊勇,张燕平,李毓麟,葛茂荣.广域差分GPS原理和方法[M].测绘出版社,1999:123-150.
[19]周忠漠,易杰军,周琪.GPS卫星测量原来与应用(修订版)[M].北京:测绘出版社,1997:33-52.
[20]陶本藻.关于高精度GPS网平差基本观测量的选取问题.测绘通报,1999(9):6-8.
[21] M.Horemuz,L.E.Sjoberg,Rapid GPS Ambiguity Resolution for Short and Long Baselines[J].Joumal of Geodesy,2002(76):381一391.
[22] TeUnissen,P.J.G A canonical theory for short GPS baselines. PartⅠ: The baseline precision[J].Journal of Geodesy1997: 320-336.
[23]施闯.大规模高精度GPS网平差与分析理论及其应用[D].北京:测绘出版社,2002.
[24]黄丁发,熊永良,袁林果.全球定位系统(GPS)-理论与实践[M].成都:西南交通大学出版社,2006:120-160.
[25]孔祥元,郭际明,刘宗泉.大地测量学基础[M].武汉:武汉大学出版社,2001:85-108.
[26]陈树新.GPS整周模糊度动态确定的算法及性能研究[D].西安:西北工业大学,2007.
[27]魏子卿,葛茂荣.GPS相对定位的数学模型[D].北京:测绘出版社,1998
[28]张后苏,陈道清,李国强.误差理论与测量平差基础[M].长沙:中南工业大学出版社,1994:16-25.
[29] TeUnissen,P.J.G A canonical theory for short GPS baselines. PartⅡ: The baseline precision[J].Journal of Geodesy1997: 389-401.
[30] Baarda,W. A testing procedure for use in Geodetic Networks,publications on Geodesy[J],New Series,Netherlands Geodetic Commission 1968. 2(5).
[31]马少君.GPS控制网数据处理方法的研究[D].上海:同济大学,2008.
[32]陈石磊.GPS载波相位定位技术的研究[D].西安:西安电子科技大学,2008.
[33]刘忠.高精度GPS数据处理若干理论与技术问题研究[D].长安:长安大学,2006.
[34]生仁军.高精度GPS载波相位定位周跳探测方法的研究[D].南京:东南大学,2006.
[35]何晓峰. GPS快速精确相对定位技术[D].北京:国防科学技术大学,2003.
[36]刘鹏辉. GPS姿态测量及整周模糊度技术研究[D].太原:中北大学2007.
[37]李延兴,胡新康,赵成坤.GPS监测网数据处理方案研究[J].测绘学报,1999,25(l):62-66.
[38]姚宜斌.高精度GPS测量中坐标基准的统一方法研究[J].地矿测绘,2(3):3-6.
[39]边少锋.大地坐标系与大地基准[M].北京:国防工业出饭社,2005:40-120.