精密单点定位中GPS卫星钟差内插与预报研究
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摘要
GPS精密单点定位技术利用IGS精密星历和卫星钟差,以单台接收机采集的非差相位观测数据在全球范围内静态或动态独立作业,并且直接得到高精度的ITRF框架坐标。因此,它在高精度的坐标框架维持、区域性或全球性的科学考察、低轨卫星定轨及海岛(礁)测图等方面都具有不可估量的前景,是今后GPS研究的热点之一。
在GPS精密单点定位中,GPS卫星钟差是影响定位精度的主要因素之一,由于GPS原子钟频率高,非常敏感,极易受到外界及其本身因素的影响,从而很难掌握其复杂细致的变化规律,如何提高GPS卫星钟差的加密及预报精度成为GPS精密单点定位急需解决的关键问题之一。针对这一问题,本文提出了在精密单点定位中GPS卫星钟差内插方法、预报模型及其精度分析的研究。
本文首先简要介绍了精密单点定位的特点和发展现状,分析了精密单点定位中获取实时高精度的卫星钟差的重要性。在此基础上,分析了GPS非差精密单点定位的原理、GPS非差观测模型、误差改正模型和非差精密单点定位的关键技术问题。论文主要研究内容分为两部分,首先是对卫星钟差内插的研究,详细叙述了六种常用内插拟合算法的原理,并编程实现各种算法,通过算例对载有不同钟类型(铷、铯)卫星的钟差内插结果进行了比较,分析了各种算法的特点和优劣得出,对存在很大抖动的卫星钟钟差,三次样条插值的内插效果最稳定;然后是对卫星钟差预报方面的研究,主要阐述了线性模型、二阶多项式模型、灰色模型和狄色残差模型、二次多项式+周期项模型等各种预报模型的原理及公式推导,并编程实现各种算法,通过算例和大量数据分析对各种模型和方法的钟差预报精度进行了比较分析,其中尝试研究了递推遗忘因子最小二乘算法作为钟差预报模型的预报精度,分析了各种模型的特点和适用性,灰色模型和灰色残差模型适宜对钟差变化不稳定的钟差进行较长时间的预报,而二次多项式+周期项模型和递推遗忘因子最小二乘算法较适合对变化稳定的卫星钟差进行短时间预报。
Precise Point Positioning(PPP) uses un-differenced pseudorange and carrier phase observations along with IGS precise orbit and satellite clock bias,for stand-alone precise geodetic point positioning(static or kinematic) and to get the high precise ITRF coordinates directly.It plays a very important role in accessing the terrestrial reference frame,regional or global scientific expedition,LEO's orbit determination,and surveying and mapping of island. Also it is one of the key techniques to be studied in the future.In the PPP methods,it needs to overcome several key technical problems.Due to the high frequency and high sensitivity of GPS atomic clocks and the impact of external or its own factors,how to interpolate and predict high quality GPS satellite clock bias becomes one of the key technical problems.In response, this paper mainly makes a study on the interpolation methods and prediction models of PPP.
In this paper,it firstly describes the PPP approach and its development status at home and abroad,the importance of solving how to get the high quality real-time GPS satellite clock bias.Then it discusses the theory of the PPP,GPS un-differential model,its error correcting model,and its key technique.The paper analyzes the main problem in two parts.Firstly,it introduces six popular interpolation methods in details,and has programmed processing procedure of these algorithms.And it has made much experiment to compare the interpolation results of satellite clock bias from two different atomic clocks(Rb or Cs),and analyze the features and merits of these algorithms.The results show spline interpolation is the best. Secondly,it discusses the principles and formulas of five algorithms:linear model,quadratic polynomial model,grey model and grey residual model,quadratic polynomial+periodic function model,and the recursive forgetting factor least squares method.And it has made much experiment to compare and analyze the prediction precision of satellite clock bias from two atomic clocks(Rb or Cs),and analyze the features and applicability of these models.It shows that grey model and grey residual model are useful for the little longer time prediction. Quadratic polynomial+periodic function model and recursive forgetting factor least squares method are suitable for short time prediction for satellite clock bias of stability changes.
在GPS精密单点定位中,GPS卫星钟差是影响定位精度的主要因素之一,由于GPS原子钟频率高,非常敏感,极易受到外界及其本身因素的影响,从而很难掌握其复杂细致的变化规律,如何提高GPS卫星钟差的加密及预报精度成为GPS精密单点定位急需解决的关键问题之一。针对这一问题,本文提出了在精密单点定位中GPS卫星钟差内插方法、预报模型及其精度分析的研究。
本文首先简要介绍了精密单点定位的特点和发展现状,分析了精密单点定位中获取实时高精度的卫星钟差的重要性。在此基础上,分析了GPS非差精密单点定位的原理、GPS非差观测模型、误差改正模型和非差精密单点定位的关键技术问题。论文主要研究内容分为两部分,首先是对卫星钟差内插的研究,详细叙述了六种常用内插拟合算法的原理,并编程实现各种算法,通过算例对载有不同钟类型(铷、铯)卫星的钟差内插结果进行了比较,分析了各种算法的特点和优劣得出,对存在很大抖动的卫星钟钟差,三次样条插值的内插效果最稳定;然后是对卫星钟差预报方面的研究,主要阐述了线性模型、二阶多项式模型、灰色模型和狄色残差模型、二次多项式+周期项模型等各种预报模型的原理及公式推导,并编程实现各种算法,通过算例和大量数据分析对各种模型和方法的钟差预报精度进行了比较分析,其中尝试研究了递推遗忘因子最小二乘算法作为钟差预报模型的预报精度,分析了各种模型的特点和适用性,灰色模型和灰色残差模型适宜对钟差变化不稳定的钟差进行较长时间的预报,而二次多项式+周期项模型和递推遗忘因子最小二乘算法较适合对变化稳定的卫星钟差进行短时间预报。
Precise Point Positioning(PPP) uses un-differenced pseudorange and carrier phase observations along with IGS precise orbit and satellite clock bias,for stand-alone precise geodetic point positioning(static or kinematic) and to get the high precise ITRF coordinates directly.It plays a very important role in accessing the terrestrial reference frame,regional or global scientific expedition,LEO's orbit determination,and surveying and mapping of island. Also it is one of the key techniques to be studied in the future.In the PPP methods,it needs to overcome several key technical problems.Due to the high frequency and high sensitivity of GPS atomic clocks and the impact of external or its own factors,how to interpolate and predict high quality GPS satellite clock bias becomes one of the key technical problems.In response, this paper mainly makes a study on the interpolation methods and prediction models of PPP.
In this paper,it firstly describes the PPP approach and its development status at home and abroad,the importance of solving how to get the high quality real-time GPS satellite clock bias.Then it discusses the theory of the PPP,GPS un-differential model,its error correcting model,and its key technique.The paper analyzes the main problem in two parts.Firstly,it introduces six popular interpolation methods in details,and has programmed processing procedure of these algorithms.And it has made much experiment to compare the interpolation results of satellite clock bias from two different atomic clocks(Rb or Cs),and analyze the features and merits of these algorithms.The results show spline interpolation is the best. Secondly,it discusses the principles and formulas of five algorithms:linear model,quadratic polynomial model,grey model and grey residual model,quadratic polynomial+periodic function model,and the recursive forgetting factor least squares method.And it has made much experiment to compare and analyze the prediction precision of satellite clock bias from two atomic clocks(Rb or Cs),and analyze the features and applicability of these models.It shows that grey model and grey residual model are useful for the little longer time prediction. Quadratic polynomial+periodic function model and recursive forgetting factor least squares method are suitable for short time prediction for satellite clock bias of stability changes.
引文
1.范士杰.GPS精密单点定位的算法实现与精度分析[D],武汉:武汉大学,2004
2.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
3.IGS Center Bureau website:http://igscb.jpl.nasa.gov/
4.ITRF2000 Coordinate:http://lareg.ensg.jgn,fr/ITRF/ITRF2000
5.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
6.Zumberge J.F.,Heflin M.B.,Jefferson D.C.,Watkins M.M and Webb E.H.Precise point positioning for the efficient and robust analysis of GPS data from large networks[J],J.Geophys.Res.,1997,102(B3):5005-5017
7.Zumberge J.F.Automated GPS Data Analysis Service[J],GPS Solutions,1999,2(3):76-78
8.Han SC,Kwon JH,Jekeli C.Accurate Absolute GPS Positioning through Satellite Clock Error Estimation[J],Journal of Geodesy,2001,77:33-43
9.Kouba J.,Heroux P.GPS Precise Point Positioning Using IGS Orbit Products[J],GPS Solutions,2001,5(2):12-28
10.Gao Y,X.Shen.A New Method Of Carrier Phase Based Precise Point Positioning[J],Journal of the institute of Navigation,2002,49(2):109-116
11.Huang Cheng,Hu Xiaogong,Cheng Zhongyi.Solution of Regional GPS Network Using Precise Point Positioning with Undifferenced Data[J],Chinese Astronomy and Astrophysics,2002(26):69-80
12.叶达忠.GPS精密单点定位(PPP)原理、测试及应用[J],广西水利水电,2007(1):24-26
13.韦建超.GPS精密单点定位的数据处理研究[D],长沙:中南大学,2007
14.Bisnath S B,R B Langley.A new approach to an old problem:earrier phase cycle slips[J],GPS World,2001,12(5):46-51
15.刘精攀.GPS非差相位精密单点定位方法与实现[D],南京:河海大学,2007
16.IERS(1989).IERS Standards(1989),IERS Technical Note 3,(ed.D.D.McCarthy)
17.IERS(1996).IERS Conventions(1996),IERS Technical Note 21,(ed.D.D.McCarthy)
18.周忠谟,易杰军,周琪.GPS卫星测量原理与应用[M].北京:测绘出版社,1997,100;104
19.刘经南,叶世榕.GPS非差相位精密单点定位技术探讨[J],武汉大学学报·信息科学 版,2002,27(3):234-240
20.季善标,朱文耀,熊永清.精密GPS卫星钟差的改正和应用[J],空间科学学报,2001,21(1):42-48
21.秦显平,杨元喜,焦文海等.利用SLR和伪距资料确定导航卫星钟差[J],测绘学报,2004,33(3):206-209
22.韩保民.精密卫星钟差加密方法及其对星载GPS低轨卫星定轨精度影响[J],武汉大学学报·信息科学版,2006,31(12):1075-1078
23.洪樱,欧吉坤,彭碧波.GPS卫星精密星历和钟差三种内插方法的比较[J],武汉大学学报·信息科学版,2006,31(6):516-518
24.郭东美,韩保民,熊熊.低轨卫星定轨中精密卫星钟差的插值方法[J],大地测量与地球动力学,2007,27(2):103-106
25.张守建,李建成,邢乐林等.两种IGS精密星历插值方法的比较分析[J],大地测量与地球动力学,2007,27(2):80-83
26.叶聪云,罗涛,陈远,张明.精密卫星钟差的内插方法研究[J],测绘信息与工程,2008,33(1):11-13
27.李庆扬.数值分析基础教程[M].北京:高等教育出版社,2001,59-82
28.殷海涛,黄丁发,熊永良,陈宪冬.IGS超快星历在对流层实时监测中的应用研究[J],西南交通大学学报,2006,41(1):97-101
29.崔先强,焦文海.灰色系统模型在卫星钟差预报中的应用[J],武汉大学学报·信息科学版,2005,30(5):447-450
30.郑作亚,陈永奇,卢秀山.灰色模型修正及其在实时GPS卫星钟差预报中的应用研究[J],天文学报,2008,49(3):306-320
31.郑作亚,卢秀山.几种GPS卫星钟差预报方法比较及精度分析[J],山东科技大学学报(自然kexue版),2008,27(4):6-11
32.Zuoya ZHENG,Yongqi CHEN,et al.Primary Analysis of GPS Satellite Clock Bias Prediction with Observations from IGS Ultra-rapid Products[J],FIG 2007 Hong Kong,2007(5):7-12
33.郑作亚,陈永奇等.利用IGS超快星历中观测资料预报卫星钟差初步分析[J],测绘科学(已录用)
34.ZHENG Zuoya,CHEN Yongqi,LU Xiushan.An Improved Grey Model and its Application Research on the Prediction of Real-time GPS Satellite Clock Errors[J], Chinese Astronomy and Astrophysics,2009,33(1)
35.路晓峰,贾小林,崔先强.灰色系统理论的优化方法及其在卫星钟差短期预报中的应用[J],测绘工程,2006,15(6):12-14
36.朱陵凤,吴晓平,李超,董峥.灰色模型在卫星钟差预报中的缺陷分析[J],宇航计测技术,2007,27(4):42-44
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2.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
3.IGS Center Bureau website:http://igscb.jpl.nasa.gov/
4.ITRF2000 Coordinate:http://lareg.ensg.jgn,fr/ITRF/ITRF2000
5.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
6.Zumberge J.F.,Heflin M.B.,Jefferson D.C.,Watkins M.M and Webb E.H.Precise point positioning for the efficient and robust analysis of GPS data from large networks[J],J.Geophys.Res.,1997,102(B3):5005-5017
7.Zumberge J.F.Automated GPS Data Analysis Service[J],GPS Solutions,1999,2(3):76-78
8.Han SC,Kwon JH,Jekeli C.Accurate Absolute GPS Positioning through Satellite Clock Error Estimation[J],Journal of Geodesy,2001,77:33-43
9.Kouba J.,Heroux P.GPS Precise Point Positioning Using IGS Orbit Products[J],GPS Solutions,2001,5(2):12-28
10.Gao Y,X.Shen.A New Method Of Carrier Phase Based Precise Point Positioning[J],Journal of the institute of Navigation,2002,49(2):109-116
11.Huang Cheng,Hu Xiaogong,Cheng Zhongyi.Solution of Regional GPS Network Using Precise Point Positioning with Undifferenced Data[J],Chinese Astronomy and Astrophysics,2002(26):69-80
12.叶达忠.GPS精密单点定位(PPP)原理、测试及应用[J],广西水利水电,2007(1):24-26
13.韦建超.GPS精密单点定位的数据处理研究[D],长沙:中南大学,2007
14.Bisnath S B,R B Langley.A new approach to an old problem:earrier phase cycle slips[J],GPS World,2001,12(5):46-51
15.刘精攀.GPS非差相位精密单点定位方法与实现[D],南京:河海大学,2007
16.IERS(1989).IERS Standards(1989),IERS Technical Note 3,(ed.D.D.McCarthy)
17.IERS(1996).IERS Conventions(1996),IERS Technical Note 21,(ed.D.D.McCarthy)
18.周忠谟,易杰军,周琪.GPS卫星测量原理与应用[M].北京:测绘出版社,1997,100;104
19.刘经南,叶世榕.GPS非差相位精密单点定位技术探讨[J],武汉大学学报·信息科学 版,2002,27(3):234-240
20.季善标,朱文耀,熊永清.精密GPS卫星钟差的改正和应用[J],空间科学学报,2001,21(1):42-48
21.秦显平,杨元喜,焦文海等.利用SLR和伪距资料确定导航卫星钟差[J],测绘学报,2004,33(3):206-209
22.韩保民.精密卫星钟差加密方法及其对星载GPS低轨卫星定轨精度影响[J],武汉大学学报·信息科学版,2006,31(12):1075-1078
23.洪樱,欧吉坤,彭碧波.GPS卫星精密星历和钟差三种内插方法的比较[J],武汉大学学报·信息科学版,2006,31(6):516-518
24.郭东美,韩保民,熊熊.低轨卫星定轨中精密卫星钟差的插值方法[J],大地测量与地球动力学,2007,27(2):103-106
25.张守建,李建成,邢乐林等.两种IGS精密星历插值方法的比较分析[J],大地测量与地球动力学,2007,27(2):80-83
26.叶聪云,罗涛,陈远,张明.精密卫星钟差的内插方法研究[J],测绘信息与工程,2008,33(1):11-13
27.李庆扬.数值分析基础教程[M].北京:高等教育出版社,2001,59-82
28.殷海涛,黄丁发,熊永良,陈宪冬.IGS超快星历在对流层实时监测中的应用研究[J],西南交通大学学报,2006,41(1):97-101
29.崔先强,焦文海.灰色系统模型在卫星钟差预报中的应用[J],武汉大学学报·信息科学版,2005,30(5):447-450
30.郑作亚,陈永奇,卢秀山.灰色模型修正及其在实时GPS卫星钟差预报中的应用研究[J],天文学报,2008,49(3):306-320
31.郑作亚,卢秀山.几种GPS卫星钟差预报方法比较及精度分析[J],山东科技大学学报(自然kexue版),2008,27(4):6-11
32.Zuoya ZHENG,Yongqi CHEN,et al.Primary Analysis of GPS Satellite Clock Bias Prediction with Observations from IGS Ultra-rapid Products[J],FIG 2007 Hong Kong,2007(5):7-12
33.郑作亚,陈永奇等.利用IGS超快星历中观测资料预报卫星钟差初步分析[J],测绘科学(已录用)
34.ZHENG Zuoya,CHEN Yongqi,LU Xiushan.An Improved Grey Model and its Application Research on the Prediction of Real-time GPS Satellite Clock Errors[J], Chinese Astronomy and Astrophysics,2009,33(1)
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