智能交通系统中载波相位差分定位技术的研究
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摘要
车辆定位导航问题是智能交通系统(ITS)研究的热点及其重要组成部分,具有重大的现实意义及应用价值。载波相位差分定位技术是智能交通系统中的关键技术之一,它是为提高GPS定位精度而产生和发展起来的,在此基础上逐步完善了差分定位技术(DGPS),这些技术在很大程度上提高了GPS定位精度,拓展了GPS应用范围。
本文所做的工作就是对载波相位定位和差分技术进行了系统的探讨,重点研究整周模糊度的解算问题。文章首先介绍了全球定位系统(GPS)的基本组成和功能,分析各种误差对定位精度的影响,讨论了基本的观测模型以及静态和动态定位的原理,对伪距差分和载波相位差分两种基本观测量的定位精度进行比较,分析结果；其次阐述了GPS载波相位差分定位系统的数学模型和工作原理,并用仿真确定了其定位性能；再次研究了载波相位定位中整周模糊度求解的基本思想,分析了常用的静态和动态各种模糊度解算方法,并比较算法的快速解算和应用范围；最后重点对最小二乘降相关平差(LAMBDA)方法进行探讨,给出定位算法实现的流程,并用MATLAB语言进行实验仿真。
Vehicle positioning and navigation problem is an important part of Intelligent Transportation System (ITS), and it has great practical significance and value. The carrier phase positioning technology is one of the key technologies in the Intelligent Transportation Systems; it is produced and developed for the exaltation of GPS positioning accuracy. Differential relative positioning of GPS (DGPS) is gradually perfected.. On the basic above, this has enhanced the precision of GPS positioning to a great extent, and also widened the application range of GPS.
In this paper, the main work is discussing the method of carrier phase positioning and differential system. The part of inter ambiguity resolution is emphatically discussed. First, this paper introduced the basic components and features of the Global Positioning System (GPS) and analyzed various errors on the positioning accuracy. We discussed the basic observation model and the principle of static and dynamic positioning and compare the pseudo range differential and carrier phase positioning accuracy of the two basic measurements. Second, we elaborated mathematical models and working principle of the GPS carrier phase differential positioning system, and used simulation to determine its positioning performance. Third, we discussed positioning of the carrier phase integer ambiguity and analyzed common methods of static and dynamic variety of ambiguity resolution. Finally, this paper focused on LAMBDA (Least-squares AMBiguity Decorrelation Adjustment) method and has given the process of positioning algorithm and experimental simulation. We can clearly see the result that it improves accuracy of real time positioning.
本文所做的工作就是对载波相位定位和差分技术进行了系统的探讨,重点研究整周模糊度的解算问题。文章首先介绍了全球定位系统(GPS)的基本组成和功能,分析各种误差对定位精度的影响,讨论了基本的观测模型以及静态和动态定位的原理,对伪距差分和载波相位差分两种基本观测量的定位精度进行比较,分析结果；其次阐述了GPS载波相位差分定位系统的数学模型和工作原理,并用仿真确定了其定位性能；再次研究了载波相位定位中整周模糊度求解的基本思想,分析了常用的静态和动态各种模糊度解算方法,并比较算法的快速解算和应用范围；最后重点对最小二乘降相关平差(LAMBDA)方法进行探讨,给出定位算法实现的流程,并用MATLAB语言进行实验仿真。
Vehicle positioning and navigation problem is an important part of Intelligent Transportation System (ITS), and it has great practical significance and value. The carrier phase positioning technology is one of the key technologies in the Intelligent Transportation Systems; it is produced and developed for the exaltation of GPS positioning accuracy. Differential relative positioning of GPS (DGPS) is gradually perfected.. On the basic above, this has enhanced the precision of GPS positioning to a great extent, and also widened the application range of GPS.
In this paper, the main work is discussing the method of carrier phase positioning and differential system. The part of inter ambiguity resolution is emphatically discussed. First, this paper introduced the basic components and features of the Global Positioning System (GPS) and analyzed various errors on the positioning accuracy. We discussed the basic observation model and the principle of static and dynamic positioning and compare the pseudo range differential and carrier phase positioning accuracy of the two basic measurements. Second, we elaborated mathematical models and working principle of the GPS carrier phase differential positioning system, and used simulation to determine its positioning performance. Third, we discussed positioning of the carrier phase integer ambiguity and analyzed common methods of static and dynamic variety of ambiguity resolution. Finally, this paper focused on LAMBDA (Least-squares AMBiguity Decorrelation Adjustment) method and has given the process of positioning algorithm and experimental simulation. We can clearly see the result that it improves accuracy of real time positioning.
引文
[1]陈石磊.GPS载波相位定位技术的研究[D].西安电子科技大学,2008.
[2]王惠南.GPS导航原理与应用[M].科学出版社.2008.
[3]张旭.GPS载波相位定位算法研究与仿真[D].哈尔滨工程大学.2007.
[4]王成.载波相位差分动态定位的方法研究[D].长安大学.2010.
[5]Zhijin Zhao, Qi Gao, Weiguo Hu.An efficient method for carrier phase ambiguity resolution in GPS attitude determination. Wireless, Mobile and Multimedia Networks, 2006 IET International Conference,pp.1-3, 6-9 Nov. 2006.
[6]Okai, M. Large carrier-effect red shift in lambda shifted DFB lasers with in-phase complex gratings.Electronics Letters, vol.29, no.17, pp. 1497-1498, 19 Aug. 1993.
[7]郑庆晖,张育林.GPS姿态测量的载波相位整周模糊度快速解算[J].航空学报.2002,23(3);272-275.
[8]陈苏娟.LAMBDA算法在GPS动态定位中的应用研究[D].河海大学.2008.
[9]黄丁发,熊永良,袁林果.全球定位系统(GPS)——理论与实践[M].西南交通大学出版社.2006.
[10]伊斌.GPS快速定位方法的研究[D].哈尔滨理工大学.2009.
[11]张旭.GPS载波相相位定位算法的研究与仿真[D].哈尔滨工程大学.2007.
[12]胡丛玮,刘大杰.单历元确定GPS整周模糊度的分析[J].南京航空航天大学学报.2001,33(3);267-271.
[13]Reis Joao, Sanguino Jose, Rodrigues Antonio, "Impact of satellite coverage in single-frequency precise heading determination," Position Location and Navigation Symposium (PLANS).2010 IEEE/ION, vol., no., pp.592-597, 4-6 May 2010
[14]Liu Lilong,Jin Lihong,Wen Hongyan. "Using Known Base Vector Length as Quasi-Observation to Improve GPS Ambiguity Resolution," Intelligent Computation Technology and Automation, 2009. ICICTA 09. Second International Conference on, vol.4, no., pp.117-120, 10-11 Oct. 2009.
[15]周扬眉,刘经南,刘基余.回代解算的LAMBDA方法及其搜索空间[J].测绘学报.2005,34(4);300-304.
[16]陈林.GPS姿态测量系统的研究[D].重庆大学.2007.
[17]卢献健.GPS整周模糊度求解理论分析与方法研究[D].桂林工学院.2008.
[18]岳淼.GPS载波相位高精度惯性组合导航系统研究[D].南京航空航天大学.2007.
[19]杨永平.GPS相位平滑伪距差分定位技术的研究与应用[D].河海大学.2005.
[20]李鑫.提高GPS定位精度的改进卡尔曼滤波算法研究[D].南京理工大学.2004.
[21]Gunther C,Henkel."Integer Ambiguity Estimation for Satellite Navigation," Signal Processing, IEEE Transactions on, vol.PP, no.99, pp.1,0.
[22]贺智软.基于GPS动态载体姿态测量系统的研究与应用[D].武汉理工大学,2006.
[23]Zhenkun, Liu, Shunji Huang. "Research on ambiguity resolution aided with triple difference," Systems Engineering and Electronics, Journal of, vol.19, no.6, pp.1090-1096, Dec. 2008.
[24]吴俊.GPS接收机算法的研究[D].南京理工大学.2008.
[25]薛文芳.高动态GPS接收机设计中几个关键问题的研究[D].北京航空航天大学.2002.
[26]刘基余.GPS卫星导航定位原理与方法[M].科学出版社.2008.
[27]姚雪GPS RTK整周模糊度求解算法研究[D].重庆邮电大学.2007.
[28]杨一洲.GPS载波相位定位算法研究[D].西安电子科技大学.2011.
[29]Zhao Lin, Huang Chen, Ding Ji-cheng. "Implementation of GPS High-Precision Positioning Post-Processing Technique," Information Engineering and Computer Science, 2009. ICIECS 2009. International Conference on, vol., no., pp.1-4, 19-20 Dec. 2009.
[30]任超,欧吉坤,袁运斌.一种用于GPS整周模糊度OTF求解的整数白化滤波改进算法[J].武汉大学学报(信息科学版).2004,29(11):960-963.
[31]刘志俭.GPS载波相位差分技术、捷联惯性导航系统初始对准技术及其组合技术研究[D].国防科学技术大学,2003.
[32]郑庆晖,张育林.基于遗传算法的整周模糊度OTF解算[J].国防科技大学学报,2001,23(3)：12-17.
[33]杨宁,田蔚风,金志华等.一种求解DGPS动态整周模糊度问题的交叉禁忌搜索[J].光学精密工程.2006,14(5);891-895.
[34]Freitag P.M, Forrest S.R, "A coherent optically controlled phased array antenna system," Microwave and Guided Wave Letters, IEEE, vol.3, no.9, pp.293-295, Sept. 1993.
[35]Giorgi, G.,Teunissen P.J.G.. "Carrier phase GNSS attitude determination with the Multivariate Constrained LAMBDA method," Aerospace Conference, 2010 IEEE, vol., no., pp.1-12, 6-13 March 2010.
[36]Oh Kee Kwon, Young Ahn Leem, Dong Hun Le. C. "Effects of Asymmetric Grating Structures on Output Efficiency and Single Longitudinal Mode Operation in Shifted DFB Laser," Quantum Electronics, IEEE Journal of, vol.47, no.9, pp.1185-1194, Sept.2011.
[37]Sahmoudi M., Landry R., "A Nonlinear Filtering Approach for Robust Multi-GNSS RTK Positioning in Presence of Multipath and Ionospheric Delays," Selected Topics in Signal Processing, IEEE Journal of, vol.3, no.5, pp.764-776, Oct. 2009.
[38]Chunyan Yang, Dewei Wu, Yonglin Yu. "The integration of GPS and interferometric Quantum Position System for high dynamic precise positioning," Information and Automation (ICIA), 2010 IEEE International Conference on, vol., no., pp.508-512, 20-23 June 2010.
[39]范胜林,赵伟,袁信等.整周模糊度动态快速求解[J].电子科技大学学报.2005,34(1);89-93.
[40]李征航,黄劲松.GPS测量与数据处理[M].武汉大学出版社.2010.
[41]杨俊,武奇生.GPS基本原理及其Matlab仿真[M].西安电子科技大学出版社.2006.
[42]李杰.关于提高DGPS精度的方法的研究[D].大连海事大学.2009.
[2]王惠南.GPS导航原理与应用[M].科学出版社.2008.
[3]张旭.GPS载波相位定位算法研究与仿真[D].哈尔滨工程大学.2007.
[4]王成.载波相位差分动态定位的方法研究[D].长安大学.2010.
[5]Zhijin Zhao, Qi Gao, Weiguo Hu.An efficient method for carrier phase ambiguity resolution in GPS attitude determination. Wireless, Mobile and Multimedia Networks, 2006 IET International Conference,pp.1-3, 6-9 Nov. 2006.
[6]Okai, M. Large carrier-effect red shift in lambda shifted DFB lasers with in-phase complex gratings.Electronics Letters, vol.29, no.17, pp. 1497-1498, 19 Aug. 1993.
[7]郑庆晖,张育林.GPS姿态测量的载波相位整周模糊度快速解算[J].航空学报.2002,23(3);272-275.
[8]陈苏娟.LAMBDA算法在GPS动态定位中的应用研究[D].河海大学.2008.
[9]黄丁发,熊永良,袁林果.全球定位系统(GPS)——理论与实践[M].西南交通大学出版社.2006.
[10]伊斌.GPS快速定位方法的研究[D].哈尔滨理工大学.2009.
[11]张旭.GPS载波相相位定位算法的研究与仿真[D].哈尔滨工程大学.2007.
[12]胡丛玮,刘大杰.单历元确定GPS整周模糊度的分析[J].南京航空航天大学学报.2001,33(3);267-271.
[13]Reis Joao, Sanguino Jose, Rodrigues Antonio, "Impact of satellite coverage in single-frequency precise heading determination," Position Location and Navigation Symposium (PLANS).2010 IEEE/ION, vol., no., pp.592-597, 4-6 May 2010
[14]Liu Lilong,Jin Lihong,Wen Hongyan. "Using Known Base Vector Length as Quasi-Observation to Improve GPS Ambiguity Resolution," Intelligent Computation Technology and Automation, 2009. ICICTA 09. Second International Conference on, vol.4, no., pp.117-120, 10-11 Oct. 2009.
[15]周扬眉,刘经南,刘基余.回代解算的LAMBDA方法及其搜索空间[J].测绘学报.2005,34(4);300-304.
[16]陈林.GPS姿态测量系统的研究[D].重庆大学.2007.
[17]卢献健.GPS整周模糊度求解理论分析与方法研究[D].桂林工学院.2008.
[18]岳淼.GPS载波相位高精度惯性组合导航系统研究[D].南京航空航天大学.2007.
[19]杨永平.GPS相位平滑伪距差分定位技术的研究与应用[D].河海大学.2005.
[20]李鑫.提高GPS定位精度的改进卡尔曼滤波算法研究[D].南京理工大学.2004.
[21]Gunther C,Henkel."Integer Ambiguity Estimation for Satellite Navigation," Signal Processing, IEEE Transactions on, vol.PP, no.99, pp.1,0.
[22]贺智软.基于GPS动态载体姿态测量系统的研究与应用[D].武汉理工大学,2006.
[23]Zhenkun, Liu, Shunji Huang. "Research on ambiguity resolution aided with triple difference," Systems Engineering and Electronics, Journal of, vol.19, no.6, pp.1090-1096, Dec. 2008.
[24]吴俊.GPS接收机算法的研究[D].南京理工大学.2008.
[25]薛文芳.高动态GPS接收机设计中几个关键问题的研究[D].北京航空航天大学.2002.
[26]刘基余.GPS卫星导航定位原理与方法[M].科学出版社.2008.
[27]姚雪GPS RTK整周模糊度求解算法研究[D].重庆邮电大学.2007.
[28]杨一洲.GPS载波相位定位算法研究[D].西安电子科技大学.2011.
[29]Zhao Lin, Huang Chen, Ding Ji-cheng. "Implementation of GPS High-Precision Positioning Post-Processing Technique," Information Engineering and Computer Science, 2009. ICIECS 2009. International Conference on, vol., no., pp.1-4, 19-20 Dec. 2009.
[30]任超,欧吉坤,袁运斌.一种用于GPS整周模糊度OTF求解的整数白化滤波改进算法[J].武汉大学学报(信息科学版).2004,29(11):960-963.
[31]刘志俭.GPS载波相位差分技术、捷联惯性导航系统初始对准技术及其组合技术研究[D].国防科学技术大学,2003.
[32]郑庆晖,张育林.基于遗传算法的整周模糊度OTF解算[J].国防科技大学学报,2001,23(3)：12-17.
[33]杨宁,田蔚风,金志华等.一种求解DGPS动态整周模糊度问题的交叉禁忌搜索[J].光学精密工程.2006,14(5);891-895.
[34]Freitag P.M, Forrest S.R, "A coherent optically controlled phased array antenna system," Microwave and Guided Wave Letters, IEEE, vol.3, no.9, pp.293-295, Sept. 1993.
[35]Giorgi, G.,Teunissen P.J.G.. "Carrier phase GNSS attitude determination with the Multivariate Constrained LAMBDA method," Aerospace Conference, 2010 IEEE, vol., no., pp.1-12, 6-13 March 2010.
[36]Oh Kee Kwon, Young Ahn Leem, Dong Hun Le. C. "Effects of Asymmetric Grating Structures on Output Efficiency and Single Longitudinal Mode Operation in Shifted DFB Laser," Quantum Electronics, IEEE Journal of, vol.47, no.9, pp.1185-1194, Sept.2011.
[37]Sahmoudi M., Landry R., "A Nonlinear Filtering Approach for Robust Multi-GNSS RTK Positioning in Presence of Multipath and Ionospheric Delays," Selected Topics in Signal Processing, IEEE Journal of, vol.3, no.5, pp.764-776, Oct. 2009.
[38]Chunyan Yang, Dewei Wu, Yonglin Yu. "The integration of GPS and interferometric Quantum Position System for high dynamic precise positioning," Information and Automation (ICIA), 2010 IEEE International Conference on, vol., no., pp.508-512, 20-23 June 2010.
[39]范胜林,赵伟,袁信等.整周模糊度动态快速求解[J].电子科技大学学报.2005,34(1);89-93.
[40]李征航,黄劲松.GPS测量与数据处理[M].武汉大学出版社.2010.
[41]杨俊,武奇生.GPS基本原理及其Matlab仿真[M].西安电子科技大学出版社.2006.
[42]李杰.关于提高DGPS精度的方法的研究[D].大连海事大学.2009.