基于GPS的弹射试验测试系统研究
|
摘要
弹射座椅是在紧急情况下将飞行员弹射出舱并带离危险区以获得救生的设备。弹射座椅在设计定型前要经过大量的试验以验证其各项救生性能。目前弹射试验主要依靠光测和遥测。基于GPS的位置、速度测量是一种先进的测试技术,将其与先进的数据处理技术相结合可以实现一种新的弹射救生试验测试技术,构建功能强大的测试系统,对于航空试验测量有重要理论和实际意义。
为方便测试结果的定义和转换,工程测试系统首先要建立其时间和空间参考。基于GPS的测试系统涉及到多种时间和空间参考系统。本文首先定义了测试系统的时间参考和空间参考,确定其与各种GPS时间和空间参考系统的转换关系。
基于GPS的弹射试验测试系统主要由地面GPS测试基准站、地面数据处理计算机和机载测试装置三部分组成。地面基准站与机载测试装置共同构成差分定位方式。由于测试结果由数据后处理获取,没有实时性的要求,因此机载测试装置与基站间不设数据通信链路,所有的测试数据都同步保存到测试设备中以便事后处理使用。
适宜的定位算法可以有效地提高定位测试精度,本文根据对象的动态特性选用载波相位差分算法以获得优良的测试性能。事后数据处理使用的是GPS-OEM板的原始测量数据,以获得更高的数据更新率。为了避免误判和漏判消息帧,对原始二进制数据流进行解码以获得测量数据和卫星星历时使用了滑窗算法。本文采用站际、星际双差观测模型进行载波相位差分定位解算。
随机噪声的影响会给系统引入测试误差,这种误差对于基站和测站没有相关性,无法通过差分运算进行消除或减弱。数据平滑和滤波可以有效减少随机噪声带来的误差。观测信息的冗余是进行数据平滑的前提,应用最小二乘准则对单历元观测信息进行纵向平滑,以减小观测误差。卡尔曼滤波属于最优估计滤波。它可以在含有噪声的信号中估计出系统真实的状态。但是卡尔曼滤波只有在建立较准确的系统模型和观测模型的情况下才是最佳的。当系统的滤波模型与实际不匹配时,会使滤波精度下降,严重的还会导致滤波发散。本文结合测试对象的高动态特性,对不同系统模型的滤波效果进行了仿真分析,并采用了对象的“当前”统计滤波模型和自适应滤波算法,仿真结果和实际试验结果表明,该方案获得了良好的滤波效果。
通过大量的试验研究表明,将GPS应用于弹射轨迹的试验测试是可行的,用适宜的定位算法和滤波算法可以获得亚米级精度。但对于高动态的试验环境,如何解决卫星失锁将是工程应用中必须解决的问题,本论文最后探讨了几种可用于工程应用的地面增强系统。
本论文的创新工作主要包括:
1、将GPS差分定位技术引入到弹射救生试验测试中,产生了新的弹射试验测试方法,提高了测试水平和测试的自动化程度。
2、将静态差分定位的后处理手段和动态差分定位测试有机结合,解决了动态精确定位、测速问题。
3、同时使用纵向平滑和横向平滑的滤波算法,建立了加速度“当前”统计模型的Kalman自适应滤波算法,有效提高了测试数据的后处理的抗干扰能力和测试精度。
随着GPS现代化计划,以及GLONASS和Galileo(伽利略)系统的建设,卫星定位将会在弹射试验测试中发挥更加突出的作用。
Ejection seat is a device which rescues the pilot by taking him out of the danger in case of emergency. Plenty of tests must be done to validate every life-support performance before finalizing the design of ejection seat. Currently the ejection test relies on photo-graphic measurement and radio remote measurement. GPS-based position & velocity testing device is an advanced test technology. Integrated with advanced data processing technology, a new ejection test technology can be applied, and a powerful test system can be build. It is significative on theory and practicality for aviation test measurement.
To convenience the definition and conversion of test result, time reference and space reference must be defined firstly on engineering test. There are some kinds of time-references and space-references involved in GPS-based test system. Firstly this dissertation defined time-reference and space-reference of ejection test system.
GPS-based ejection test system consists of three parts, which includes ground GPS test base station, ground data process computer and airborne test station. The ground base station and airborne test station make of differential GPS position. Because the test result acquired by post data process, so there is no real-time process demand. There is no data link layer between ground base station and airborne test station. All test data must be stored into test device synchronously so it can be process after test.
Proper position algorithm can improve the test performance effectively. According the dynamic characteristics of the testing target, this dissertation presents post-process algorithm of carrier phase to improve test performance. Post data process uses the raw measurements provided by the GPS-OEM receiver to acquire higher data rate. To avoid missing and losing message frame, it adopts slide-window algorithm to code the binary data stream and to acquire measurement data and ephemeris data. This dissertation adopts double-difference observe model between station and satellite to resolve carrier phase differential position.
Because of weak correlativity between base station and airborne station, the test error introduced by random noise can not be eliminated or weakened by differential algorithm. It can be eliminated effectively by adjustment value and filtering. Redundancy of measurements is the pre-condition of adjustment value. Apply least square law to long-direction adjust the single epoch measurement to minish the observe error. The Kalman filter is the best optimal estimator. It can estimate the true state of the system from signals including noise. But the Kalman filter works effectively only in case of building an accuracy process model and measurement model. When the filtering model can not match the actual system, the filtering precision decreased, badly it can cause filtering diverging. Based on the characteristics of the testing target, this dissertation analyses and simulates the filtering effect under different system models; and adopted the current statistical models of acceleration and adaptive Kalman algorithm. The simulation results and actual test filtering results indicate that the testing precision be improved effectively.
According plenty of test researches, it is feasible that apply GPS to ejection test; Proper position algorithm and filtering algorithm can acquire sub-meter precision. It must be resolved in engineering application that how to settle the lost-lock of the signal of satellites under the high dynamic test condition. Finally this dissertation discusses some ground enhanced systems that can be used in engineering application.
The innovation works of the dissertation including:
1. Introduced differential GPS position into ejection test, produced new test means, improved test proformance and test automatization.
2. Integrated the post-process of static differential position and dynamic differential position, solved the problem of dynamic position and velocity measurement.
3. Used the long-direction and lateral-direction adjustment filtering algorithm; built the current statistical model of acceleration and adaptive Kalman algorithm, improved the anti-jamming of post data process and test performance.
In company with the project of GPS modernization and the construction of GLONASS and Galileo, satellite-position will play more important role on the ejection test.
为方便测试结果的定义和转换,工程测试系统首先要建立其时间和空间参考。基于GPS的测试系统涉及到多种时间和空间参考系统。本文首先定义了测试系统的时间参考和空间参考,确定其与各种GPS时间和空间参考系统的转换关系。
基于GPS的弹射试验测试系统主要由地面GPS测试基准站、地面数据处理计算机和机载测试装置三部分组成。地面基准站与机载测试装置共同构成差分定位方式。由于测试结果由数据后处理获取,没有实时性的要求,因此机载测试装置与基站间不设数据通信链路,所有的测试数据都同步保存到测试设备中以便事后处理使用。
适宜的定位算法可以有效地提高定位测试精度,本文根据对象的动态特性选用载波相位差分算法以获得优良的测试性能。事后数据处理使用的是GPS-OEM板的原始测量数据,以获得更高的数据更新率。为了避免误判和漏判消息帧,对原始二进制数据流进行解码以获得测量数据和卫星星历时使用了滑窗算法。本文采用站际、星际双差观测模型进行载波相位差分定位解算。
随机噪声的影响会给系统引入测试误差,这种误差对于基站和测站没有相关性,无法通过差分运算进行消除或减弱。数据平滑和滤波可以有效减少随机噪声带来的误差。观测信息的冗余是进行数据平滑的前提,应用最小二乘准则对单历元观测信息进行纵向平滑,以减小观测误差。卡尔曼滤波属于最优估计滤波。它可以在含有噪声的信号中估计出系统真实的状态。但是卡尔曼滤波只有在建立较准确的系统模型和观测模型的情况下才是最佳的。当系统的滤波模型与实际不匹配时,会使滤波精度下降,严重的还会导致滤波发散。本文结合测试对象的高动态特性,对不同系统模型的滤波效果进行了仿真分析,并采用了对象的“当前”统计滤波模型和自适应滤波算法,仿真结果和实际试验结果表明,该方案获得了良好的滤波效果。
通过大量的试验研究表明,将GPS应用于弹射轨迹的试验测试是可行的,用适宜的定位算法和滤波算法可以获得亚米级精度。但对于高动态的试验环境,如何解决卫星失锁将是工程应用中必须解决的问题,本论文最后探讨了几种可用于工程应用的地面增强系统。
本论文的创新工作主要包括:
1、将GPS差分定位技术引入到弹射救生试验测试中,产生了新的弹射试验测试方法,提高了测试水平和测试的自动化程度。
2、将静态差分定位的后处理手段和动态差分定位测试有机结合,解决了动态精确定位、测速问题。
3、同时使用纵向平滑和横向平滑的滤波算法,建立了加速度“当前”统计模型的Kalman自适应滤波算法,有效提高了测试数据的后处理的抗干扰能力和测试精度。
随着GPS现代化计划,以及GLONASS和Galileo(伽利略)系统的建设,卫星定位将会在弹射试验测试中发挥更加突出的作用。
Ejection seat is a device which rescues the pilot by taking him out of the danger in case of emergency. Plenty of tests must be done to validate every life-support performance before finalizing the design of ejection seat. Currently the ejection test relies on photo-graphic measurement and radio remote measurement. GPS-based position & velocity testing device is an advanced test technology. Integrated with advanced data processing technology, a new ejection test technology can be applied, and a powerful test system can be build. It is significative on theory and practicality for aviation test measurement.
To convenience the definition and conversion of test result, time reference and space reference must be defined firstly on engineering test. There are some kinds of time-references and space-references involved in GPS-based test system. Firstly this dissertation defined time-reference and space-reference of ejection test system.
GPS-based ejection test system consists of three parts, which includes ground GPS test base station, ground data process computer and airborne test station. The ground base station and airborne test station make of differential GPS position. Because the test result acquired by post data process, so there is no real-time process demand. There is no data link layer between ground base station and airborne test station. All test data must be stored into test device synchronously so it can be process after test.
Proper position algorithm can improve the test performance effectively. According the dynamic characteristics of the testing target, this dissertation presents post-process algorithm of carrier phase to improve test performance. Post data process uses the raw measurements provided by the GPS-OEM receiver to acquire higher data rate. To avoid missing and losing message frame, it adopts slide-window algorithm to code the binary data stream and to acquire measurement data and ephemeris data. This dissertation adopts double-difference observe model between station and satellite to resolve carrier phase differential position.
Because of weak correlativity between base station and airborne station, the test error introduced by random noise can not be eliminated or weakened by differential algorithm. It can be eliminated effectively by adjustment value and filtering. Redundancy of measurements is the pre-condition of adjustment value. Apply least square law to long-direction adjust the single epoch measurement to minish the observe error. The Kalman filter is the best optimal estimator. It can estimate the true state of the system from signals including noise. But the Kalman filter works effectively only in case of building an accuracy process model and measurement model. When the filtering model can not match the actual system, the filtering precision decreased, badly it can cause filtering diverging. Based on the characteristics of the testing target, this dissertation analyses and simulates the filtering effect under different system models; and adopted the current statistical models of acceleration and adaptive Kalman algorithm. The simulation results and actual test filtering results indicate that the testing precision be improved effectively.
According plenty of test researches, it is feasible that apply GPS to ejection test; Proper position algorithm and filtering algorithm can acquire sub-meter precision. It must be resolved in engineering application that how to settle the lost-lock of the signal of satellites under the high dynamic test condition. Finally this dissertation discusses some ground enhanced systems that can be used in engineering application.
The innovation works of the dissertation including:
1. Introduced differential GPS position into ejection test, produced new test means, improved test proformance and test automatization.
2. Integrated the post-process of static differential position and dynamic differential position, solved the problem of dynamic position and velocity measurement.
3. Used the long-direction and lateral-direction adjustment filtering algorithm; built the current statistical model of acceleration and adaptive Kalman algorithm, improved the anti-jamming of post data process and test performance.
In company with the project of GPS modernization and the construction of GLONASS and Galileo, satellite-position will play more important role on the ejection test.
引文
[1]中国人民解放军总装备部军事训练教材编辑工作委员会.光电测量.第1版.北京:国防工业出版社, 2002, 213
[2]张守信.外弹道测量与卫星轨道测量基础.第1版.北京:国防工业出版社, 1992, 494
[3]李树国,孟庆慈. GPS用于靶场测量设备动态精度校准方法的研究.遥测遥控, 2000, 21, (4)
[4]李岩,杨洪柱.遥测系统应用设计.第1版.北京:宇航出版社, 1995, 302
[5]孙桦,李翔鹏. GPS用于导弹轨道测量的研究.宇航计测技术, 2001, 2,(2)
[6]张守信.外弹道测量与卫星轨道测量基础.第1版.北京:国防工业出版社, 1992, 493
[7]赵树强,许爱华. GPS在外弹道测量中的应用.全球定位系统, 2005, 4, (12)
[8]沈尔康,陈榆源.航空弹射救生装备.第1版.北京:航空工业出版社, 1988
[9]苏炳君.航空救生与防护系统发展思考.中航救生,2004,1, 1~5
[10]中国人民解放军总装备部军事训练教材编辑工作委员会编.无线电遥测遥控上册.国防工业出版社. 2001,01:1 ~5.
[11] Parkinson,B.“A History of Satellite Navigation”NAVIGATION: Journal of Navigation, Vol.42, No. 1 Spring 1995, 109~164.
[12]王颖.推动卫星导航应用促进IT产业发展.全球定位系统, 2005. 3, (34)
[13]王惠南. GPS导航原理与应用.北京:科学出版社. 2003,08: 4 ~ 8.
[14]卡普兰Kaplan. GPS原理与应用.北京:科学出版社. 2002,08:37 ~ 38.
[15]李天文. GPS原理及应用.北京:科学出版社. 2003,09: 5 ~ 9.
[16] Larraks,J.and C.Shank. Inside GPS: The Master Control Station. GPS Word Magazine ,Advanstar Communication . Sept,1994,46 ~56.
[17] Bossler J D, Goad C C, Bender P L. Using GPS for Geodetic Positioning. Bulletin Geodesique, 1980(54):553~563
[18] Schwarz K P, Cannon M E, Wong A V C. A Comparison of GPS Kinematic Models for the Determination of Position and Velocity along a trajectory. Manuscripta Geodaetica, 1989(14):345~353
[19] Rocken C, Kelecy T M. High-Accuracy GPS Marine Positioning for Scientific Application. GPS World, 1992,3(6):42~47
[20] Kursinski E R, Hajj G A, Schofield T, et al. J Geophys Res, 1997,102,D(19);23429
[21] Visser P., Jssel J. GPS-based precise orbit determination of the very low Earth-orbiting gravity mission GOCE. JGeod., 2001,74: 590～602.
[22] WANG Yong-quan, WANG Mei, ZHAN Xin-qun,et al. An Analytical Method for Real-time GPS Attitude Determination. International Conference on Space Information Technology, edited by Cheng Wang, Shan Zhong,Xiulin Hu, Proc. of SPIE Vol. 5985, 598559, (2005): 598559-1~598559-5
[23] Rocken C, Kelecy T M. High-Accuracy GPS Marine Positioning for Scientific applications. GPS World1 992 , 3 (6)
[24] Dariusz L, Richard B and Ziwen L. High-rate precise real-time positioning using differential carrier phase. Navigation, ION, 1996,43(3)
[25] Capt C S, Ltcol M M, Capt Reece Tredway. Monitoring Air Force Escape System tests Using GPS-Based Postion and Velocity. In: the 38th SAFE Association Annual Symposium. Florida, September 2002,Adams Mark Hotel and Conference Center Jacksonville, 2002, 154~163.
[26]魏二虎,史冠军,胡雪霁. GPS现代化及其影响.测绘通报. 2005, 7:24 ~27.
[27] Dennis Odijk. Ionosphere-Free Phase Combinations for Modernized GPS. JOURNAL OF SURVEYING ENGINEERING ? ASCE / NOVEMBER 2003. 165~174
[28] Michael J. Leite, Paul Berner. Application of the Spatial Reference Model to Precision Coordinate Transformation. Earth & Space 2006.]
[29] Kaplan, E. D. Understanding GPS-Principles and applications, Boston:Artech House, 1996. 59~70
[30]孙桦,李翔鹏. GPS用于导弹轨道测量的研究.宇航计测技术, 2001, 21,(2)
[31] Thomas B.Bahder. Relativity of GPS measurement. PHYSICAL REVIEW D 68, 063005.2003
[32]王广运,郭秉义,李洪涛.差分GPS定位技术与应用.北京:电子工业出版社, 1998.
[33] Kleusberg A. Precise Differential positioning and Surveying. GPS World, 1992,3(7):50~52
[34] Hatch R, Euler H J. Comparison of several AROF kinematic techniques. Proceedingsof ION GPS94, Salt Lacke City, Utah, 363~370
[35] Bancroft, S. An Algebraic Solution of the GPS Equations , IEEE Transactions on Aerospace and Electronic Systems, AES–21(6), 1985, 56~59.
[36]余鹏,孙学金. GPS卫星广播星历轨道误差的探讨.测绘通报,2004 , (4) .
[37] Wai-Shan Chan, You-Lin Xu, Xiao-Li Ding,et al. Assessment of Dynamic Measurement Accuracy of GPS in Three Directions. JOURNAL OF SURVEYING ENGINEERING ? ASCE / AUGUST 2006.108~117
[38]胡桂阳,王利恒,李昌禧.基于GPS的弹射试验测试装置的研究,自动化与仪表. 2005.5,(20)
[39] Christopher C., M.Elizabeth Cannon. Developing Carrier-Phase Differential Global Positioning System Networks with Partial Derivative Algorithms. JOURNAL OF SURVEYING ENGINEERING MAY 2002: 39~60
[40] Cannon M.E. High accuracy GPS semikinematic positioning: Modeling and results. Navigation, Institute of Navigation, Alexandria, Va., 37(1) 53~64
[41]张守信.外弹道测量与卫星轨道测量基础.第1版.北京:国防工业出版社, 1992, 495
[42] SUPERSTAR APPLICATION NOTE. from the allstar to the superstar oem board.doe date:27July.1998
[43] Silicon Laboratories C8051F32x Family Datasheet Revision 1.1 (12.2003)
[44] NovAtel Inc. SUPERSTAR II User Manual Rev4. Canada:2004,11.
[45] NovAtel Inc. NOVATEL SUPERSTAR II Firmware Reference Manual Rev3. Canada: 2004,11.
[46] Universal Serial Bus Specification Revision 2.0 April 27, 2000
[47] STMicroelectronics, M25P16 datasheet,May 2004
[48]胡伍生,高成发主编. GPS测量原理及应用.第1版.北京:人民交通出版社, 2002, 10
[49] Navstar GPS Space Segment / Navigation User Interfaces IDC-GPS-200C, ARINC RESEARCH CORPORATION 2250 E. Imperial Highway,Suite 450 EI Segundo,CA 90245-3509
[50] Spilke Jr J J. GPS Signal Structure and Performance Characteristics. Global Positioning System. Washington D: The Institute of Navigation, 1980(1):29~54
[51] Homniam P. and Satirapod C. Comparing the Interpolation Methods of GPS SatellitePosition [ C] , National Conference on Mapping and Geo– Informatics 2003 , Bangkok , Thailand.
[52] Langly R B. The Orbits of GPS Satellites. GPS World, 1991,2(3):50~53
[53] M.Mahmoud. Global Positioning System Time-Transfer Error Correction Using Neural Networks. Location Services and Navigation Technologies, Yilin Zhao, Editor,Proceedings of SPIE Vol. 5084 (2003) 117~125
[54] Janghun Park, Seongryong Mun, Seokwoo Choi,et al. GPS Error Compensation Algorithm Using Coordinates Matching of Vision System for Land-vehicle Navigation. Intelligent Robots and Computer Vision XXI: Algorithms, Techniques, and Active Vision, David P. Casasent, Ernest L. Hall, Juha Roning, Editors, Proceedings of SPIE Vol. 5267 107~116
[55]张捍卫,盘关松,马高峰. VLBI观测的电离层延迟改正模型研究.测绘学院学报, 2003.20 1
[56]杨力.大气对GPS测量影响的理论与研究.郑州:信息工程大学测绘学院, 2001
[57] KlobucharJA.IonosphericEffactson GPS [J]. GPSWorld, 1991, 2(4): 48~51
[58]朱进.天文和.测地VLBI物理模型的研究.南京:南京大学,1991
[59] Frederick Rich, Odile de La Beaujardière, John Retterer,et al. A Demonstration System to Forecast Equatorial Ionospheric Scintillation that Adversely Affects Navigation, Communication, and Surveillance Systems. Atmospheric and Environmental Remote Sensing Data Processing and Utilization: an End-to-End System Perspective, edited by H.-L. A. Huang, H. J. Bloom, Proc. of SPIE Vol. 5548.358~370
[60]吴必军.我国中性大气折射对GPS测量影响特点及其修正新模式的初步研究.导航,1997 , (2) .
[61]张捍卫,郑勇,马高峰. VLBI中性大气折射延迟的研究进展——天顶延迟的改正模型.测绘科学,2003 ,2.
[62] ZHU Yunlong, YANG Dongkai, ZHANG Qishan. Impact Analysis of Residual Code Phase and Carrier Frequency Error on GPS Signal Tracking and Its Improvement. International Conference on Space Information Technology, edited by Cheng Wang, Shan Zhong, Xiulin Hu, Proc. of SPIE Vol. 5985, 598527-1~598527-6
[63]王利恒.基于GPS的弹射试验测试系统的设计.中航救生2006,1
[64] Langley R et al. Studiesin the Application of the Global Positioning System to Differential Positioning Technical Report N0.108, Canada:University of NewBrunswick,1984
[65] Mader G L. Dygamic Positioning Using GPS Carrier Phase Measurements. Manuscripta Geodasetia,1986. 272~277
[66] Yongliang xiong, C.K. Shum,Dingfa Huang,et al. A fast baseline resolution algorithm for GPS kinematic Positioning based on probability computation. Acquisition, Tracking, and Pointing XVI, Michael K. Masten, Larry A. Stockum, Editors, Proceedings of SPIE Vol. 4714 (2002): 105~110
[67] LIU Zhimin, LIU Jingnan, JIANG Weiping, et al. Ambiguity Resolution of Double-difference GPS Short Baseline Using Genetic Algorithm. International Conference on Space Information Technology, edited by Cheng Wang, Shan Zhong,Xiulin Hu, Proc. of SPIE Vol. 5985, 598529, (2005), 598529-1~598529-6
[68] Colin D. Rennie, Francois Rainville. Case Study of Precision of GPS Differential Correction Strategies: Influence on aDcp Velocity and Discharge Estimates. JOURNAL OF HYDRAULIC ENGINEERING ? ASCE / MARCH 2006. 225~234
[69] Ming Yang. Noniterative Method of Solving the GPS Double-Differenced Pseudorange Equations. JOURNAL OF SURVEYING ENGINEERING ? ASCE / NOVEMBER 2005.130~135
[70] Gourevitch S, F. Van Diggelen et al, Real-Time Kinematic GPS eith OTF Initialization. ION GPS95. California: Palm Springs, 1995. 167~170
[71]王爱朝,张琰. GPS动态定位的初始化.测绘通报,1994, 6
[72] W.Hofmann and B.Remondi(1988):The Antenna Exchange: One Aspect of High-Precision GPS Kinematic Survey. Presented at International GPS Workshop, Technischule, Darmsfadt, FRG, April 10-13.
[73] Frei,E. And Beutler, G, Rapid static positioning based on the fast ambiguity resolution approach (FARA): theory and first results, Manuscripta Geodaetica, 1990 ,pp.1059~1067
[74] Hasanuddin Z. Abidin: On the construction of the ambiguity searching space for on-the-fly ambiguity resolution. Navigation, ION, 1993,40(3)
[75] Hatch R, Euler HJ. Comparison of several AROF kinematic techniques. Proceedings of ION GPS94, Salt Lack City, Utah,363~370
[76] Chen C,Lachapelle G. A Comparison of the FASF and Least-Squars Seach Algorithms for on-the fly Ambiguity Reaolution. Navigation: Journal of The Institute ofNavigation, 1995,42(2):371~389
[77] Skidmore T A. A GPS coverage model. Proceedings of the 48th Annual Meeting, 1992, Colorado Springs, CO, USA
[78] Negast W J, Paschall R N. Correction of Selection Availability affects using Markov models in an extended Kalman filter. Proceedings of the 48th Annual Meeting, 1992, Colorado Spings, CO, USA
[79] Dougherty J J, EL-Sherief H, Simon D J, et al. GPS modeling for designing aerospace vehicle navigation systems. IEEE Transactins on Aerospace and Electronic Systems. IEEE Transactions on Aerospace and Electronic Systems, April 1995, 31(2); 695~706
[80] Rankin J. GPS and differential GPS: an error model for sensor simulation. IEEE 1994 Position Location and Navigation Symposium, April 11~15,1994, Las Vegas, Nevada, USA
[81] Frieldland B. Optimum steady-state position and velocity estimation using noisy sampled position data. IEEE Transactions on Aerospace and Electronic Systems, 1973,9(6):906~911
[82]樊功瑜.误差理论与测量平差.同济大学出版社, 1998, 2
[83] Kaatz G, Kidh T, Richmond C et al. Test Results for the High-Dynamics Instrumentation Set(HDIS). Proceedings of ION GPS. Colorado,1989(42):87~102
[84] Singer R A. Estimating optimal tracking filter performance for manned maneuvering targets. IEEE Transactions on Aerospace and Electronic Systems,1970,6(4):473~483
[85] Tredway, Brian R. Using GPS to Collect Trajectory Data for Ejection Seat Design, Validation, and Testing. MS thesis, AFIT/GE/ENG/02M-27.
[86]郭树人,郭海荣,何海波. GPS动态数据处理中的快速Kalman滤波算法.测绘科学技术学报, 2006, 6, 23 ,3
[87] WANG Li-heng, LI Chang-xi. Filter Modeling and Simulation for High Dynamic Testing System. Advances in Systems science and Applications (2006)Vol.6,No.2
[88]房建成,万德钧,周百令. GPS动态定位中的自适应卡尔曼滤波模型的建立及其算法研究.船舶工程, 1997(2).
[89] Zhou hongren, Kumar K S P. A current statistical model and adaptive algorithm for estimating maneuvering targets. AIAA. Journal of Guidance, Control and Dynamics,1984, 7(5)
[90]宋迎春,陈正阳. GPSPINS组合导航中的自适应滤波算法.湘潭大学自然科学学报, 2006,6, 28. 2
[91] Koch K R and Yang Y. Robust Kalman filter for rank deficient observation model [J ] . Journal of Geodesy ,1998 ,72 :436 - 441.
[92]王厚基. GPS增强系统的定位精度.导航, 1997, No.4
[93]王海军,王泽民,李裴. Inverse GPS技术在飞行器定位中应用方案分析.全球定位系统, 2005.(2)6
[94]岳晓奎,袁建平,吴琼.伪卫星技术发展和应用综述.全球定位系统, 2005.2, 47
[95]王利恒,胡桂阳,李昌禧.基于伪码测距的弹射试验测试系统设计,华中科技大学学报, 2006, (6)
[96]李学蔷,普杰信等.基于GPS授时的数据同步技术应用基础.信息技术,2004, 10(10):86~89.
[97] J.M. Hilkert. Kinematic Algorithms for Line-of-Sight Pointing and Scanning using INS / GPS Position and Velocity Information. Acquisition, Tracking, and Pointing XIX, edited by Michael K. Masten, Larry A. Stockum, Proceedings of SPIE Vol. 5810. 11~23
[98] Young C Lee and Daniel G. O’laughlin. Performance analysis of a tightly coupled GPS/inertial system for two integrity monitoring methods. Navigation, ION, 2000,47(3)
[99] Presidential Decision Directive, U.S. Global Positioning System Policy.March 28,1996
[100] U.S. Space-Based Positioning, Navigation, and Timing Policy. December 15, 2004
[2]张守信.外弹道测量与卫星轨道测量基础.第1版.北京:国防工业出版社, 1992, 494
[3]李树国,孟庆慈. GPS用于靶场测量设备动态精度校准方法的研究.遥测遥控, 2000, 21, (4)
[4]李岩,杨洪柱.遥测系统应用设计.第1版.北京:宇航出版社, 1995, 302
[5]孙桦,李翔鹏. GPS用于导弹轨道测量的研究.宇航计测技术, 2001, 2,(2)
[6]张守信.外弹道测量与卫星轨道测量基础.第1版.北京:国防工业出版社, 1992, 493
[7]赵树强,许爱华. GPS在外弹道测量中的应用.全球定位系统, 2005, 4, (12)
[8]沈尔康,陈榆源.航空弹射救生装备.第1版.北京:航空工业出版社, 1988
[9]苏炳君.航空救生与防护系统发展思考.中航救生,2004,1, 1~5
[10]中国人民解放军总装备部军事训练教材编辑工作委员会编.无线电遥测遥控上册.国防工业出版社. 2001,01:1 ~5.
[11] Parkinson,B.“A History of Satellite Navigation”NAVIGATION: Journal of Navigation, Vol.42, No. 1 Spring 1995, 109~164.
[12]王颖.推动卫星导航应用促进IT产业发展.全球定位系统, 2005. 3, (34)
[13]王惠南. GPS导航原理与应用.北京:科学出版社. 2003,08: 4 ~ 8.
[14]卡普兰Kaplan. GPS原理与应用.北京:科学出版社. 2002,08:37 ~ 38.
[15]李天文. GPS原理及应用.北京:科学出版社. 2003,09: 5 ~ 9.
[16] Larraks,J.and C.Shank. Inside GPS: The Master Control Station. GPS Word Magazine ,Advanstar Communication . Sept,1994,46 ~56.
[17] Bossler J D, Goad C C, Bender P L. Using GPS for Geodetic Positioning. Bulletin Geodesique, 1980(54):553~563
[18] Schwarz K P, Cannon M E, Wong A V C. A Comparison of GPS Kinematic Models for the Determination of Position and Velocity along a trajectory. Manuscripta Geodaetica, 1989(14):345~353
[19] Rocken C, Kelecy T M. High-Accuracy GPS Marine Positioning for Scientific Application. GPS World, 1992,3(6):42~47
[20] Kursinski E R, Hajj G A, Schofield T, et al. J Geophys Res, 1997,102,D(19);23429
[21] Visser P., Jssel J. GPS-based precise orbit determination of the very low Earth-orbiting gravity mission GOCE. JGeod., 2001,74: 590～602.
[22] WANG Yong-quan, WANG Mei, ZHAN Xin-qun,et al. An Analytical Method for Real-time GPS Attitude Determination. International Conference on Space Information Technology, edited by Cheng Wang, Shan Zhong,Xiulin Hu, Proc. of SPIE Vol. 5985, 598559, (2005): 598559-1~598559-5
[23] Rocken C, Kelecy T M. High-Accuracy GPS Marine Positioning for Scientific applications. GPS World1 992 , 3 (6)
[24] Dariusz L, Richard B and Ziwen L. High-rate precise real-time positioning using differential carrier phase. Navigation, ION, 1996,43(3)
[25] Capt C S, Ltcol M M, Capt Reece Tredway. Monitoring Air Force Escape System tests Using GPS-Based Postion and Velocity. In: the 38th SAFE Association Annual Symposium. Florida, September 2002,Adams Mark Hotel and Conference Center Jacksonville, 2002, 154~163.
[26]魏二虎,史冠军,胡雪霁. GPS现代化及其影响.测绘通报. 2005, 7:24 ~27.
[27] Dennis Odijk. Ionosphere-Free Phase Combinations for Modernized GPS. JOURNAL OF SURVEYING ENGINEERING ? ASCE / NOVEMBER 2003. 165~174
[28] Michael J. Leite, Paul Berner. Application of the Spatial Reference Model to Precision Coordinate Transformation. Earth & Space 2006.]
[29] Kaplan, E. D. Understanding GPS-Principles and applications, Boston:Artech House, 1996. 59~70
[30]孙桦,李翔鹏. GPS用于导弹轨道测量的研究.宇航计测技术, 2001, 21,(2)
[31] Thomas B.Bahder. Relativity of GPS measurement. PHYSICAL REVIEW D 68, 063005.2003
[32]王广运,郭秉义,李洪涛.差分GPS定位技术与应用.北京:电子工业出版社, 1998.
[33] Kleusberg A. Precise Differential positioning and Surveying. GPS World, 1992,3(7):50~52
[34] Hatch R, Euler H J. Comparison of several AROF kinematic techniques. Proceedingsof ION GPS94, Salt Lacke City, Utah, 363~370
[35] Bancroft, S. An Algebraic Solution of the GPS Equations , IEEE Transactions on Aerospace and Electronic Systems, AES–21(6), 1985, 56~59.
[36]余鹏,孙学金. GPS卫星广播星历轨道误差的探讨.测绘通报,2004 , (4) .
[37] Wai-Shan Chan, You-Lin Xu, Xiao-Li Ding,et al. Assessment of Dynamic Measurement Accuracy of GPS in Three Directions. JOURNAL OF SURVEYING ENGINEERING ? ASCE / AUGUST 2006.108~117
[38]胡桂阳,王利恒,李昌禧.基于GPS的弹射试验测试装置的研究,自动化与仪表. 2005.5,(20)
[39] Christopher C., M.Elizabeth Cannon. Developing Carrier-Phase Differential Global Positioning System Networks with Partial Derivative Algorithms. JOURNAL OF SURVEYING ENGINEERING MAY 2002: 39~60
[40] Cannon M.E. High accuracy GPS semikinematic positioning: Modeling and results. Navigation, Institute of Navigation, Alexandria, Va., 37(1) 53~64
[41]张守信.外弹道测量与卫星轨道测量基础.第1版.北京:国防工业出版社, 1992, 495
[42] SUPERSTAR APPLICATION NOTE. from the allstar to the superstar oem board.doe date:27July.1998
[43] Silicon Laboratories C8051F32x Family Datasheet Revision 1.1 (12.2003)
[44] NovAtel Inc. SUPERSTAR II User Manual Rev4. Canada:2004,11.
[45] NovAtel Inc. NOVATEL SUPERSTAR II Firmware Reference Manual Rev3. Canada: 2004,11.
[46] Universal Serial Bus Specification Revision 2.0 April 27, 2000
[47] STMicroelectronics, M25P16 datasheet,May 2004
[48]胡伍生,高成发主编. GPS测量原理及应用.第1版.北京:人民交通出版社, 2002, 10
[49] Navstar GPS Space Segment / Navigation User Interfaces IDC-GPS-200C, ARINC RESEARCH CORPORATION 2250 E. Imperial Highway,Suite 450 EI Segundo,CA 90245-3509
[50] Spilke Jr J J. GPS Signal Structure and Performance Characteristics. Global Positioning System. Washington D: The Institute of Navigation, 1980(1):29~54
[51] Homniam P. and Satirapod C. Comparing the Interpolation Methods of GPS SatellitePosition [ C] , National Conference on Mapping and Geo– Informatics 2003 , Bangkok , Thailand.
[52] Langly R B. The Orbits of GPS Satellites. GPS World, 1991,2(3):50~53
[53] M.Mahmoud. Global Positioning System Time-Transfer Error Correction Using Neural Networks. Location Services and Navigation Technologies, Yilin Zhao, Editor,Proceedings of SPIE Vol. 5084 (2003) 117~125
[54] Janghun Park, Seongryong Mun, Seokwoo Choi,et al. GPS Error Compensation Algorithm Using Coordinates Matching of Vision System for Land-vehicle Navigation. Intelligent Robots and Computer Vision XXI: Algorithms, Techniques, and Active Vision, David P. Casasent, Ernest L. Hall, Juha Roning, Editors, Proceedings of SPIE Vol. 5267 107~116
[55]张捍卫,盘关松,马高峰. VLBI观测的电离层延迟改正模型研究.测绘学院学报, 2003.20 1
[56]杨力.大气对GPS测量影响的理论与研究.郑州:信息工程大学测绘学院, 2001
[57] KlobucharJA.IonosphericEffactson GPS [J]. GPSWorld, 1991, 2(4): 48~51
[58]朱进.天文和.测地VLBI物理模型的研究.南京:南京大学,1991
[59] Frederick Rich, Odile de La Beaujardière, John Retterer,et al. A Demonstration System to Forecast Equatorial Ionospheric Scintillation that Adversely Affects Navigation, Communication, and Surveillance Systems. Atmospheric and Environmental Remote Sensing Data Processing and Utilization: an End-to-End System Perspective, edited by H.-L. A. Huang, H. J. Bloom, Proc. of SPIE Vol. 5548.358~370
[60]吴必军.我国中性大气折射对GPS测量影响特点及其修正新模式的初步研究.导航,1997 , (2) .
[61]张捍卫,郑勇,马高峰. VLBI中性大气折射延迟的研究进展——天顶延迟的改正模型.测绘科学,2003 ,2.
[62] ZHU Yunlong, YANG Dongkai, ZHANG Qishan. Impact Analysis of Residual Code Phase and Carrier Frequency Error on GPS Signal Tracking and Its Improvement. International Conference on Space Information Technology, edited by Cheng Wang, Shan Zhong, Xiulin Hu, Proc. of SPIE Vol. 5985, 598527-1~598527-6
[63]王利恒.基于GPS的弹射试验测试系统的设计.中航救生2006,1
[64] Langley R et al. Studiesin the Application of the Global Positioning System to Differential Positioning Technical Report N0.108, Canada:University of NewBrunswick,1984
[65] Mader G L. Dygamic Positioning Using GPS Carrier Phase Measurements. Manuscripta Geodasetia,1986. 272~277
[66] Yongliang xiong, C.K. Shum,Dingfa Huang,et al. A fast baseline resolution algorithm for GPS kinematic Positioning based on probability computation. Acquisition, Tracking, and Pointing XVI, Michael K. Masten, Larry A. Stockum, Editors, Proceedings of SPIE Vol. 4714 (2002): 105~110
[67] LIU Zhimin, LIU Jingnan, JIANG Weiping, et al. Ambiguity Resolution of Double-difference GPS Short Baseline Using Genetic Algorithm. International Conference on Space Information Technology, edited by Cheng Wang, Shan Zhong,Xiulin Hu, Proc. of SPIE Vol. 5985, 598529, (2005), 598529-1~598529-6
[68] Colin D. Rennie, Francois Rainville. Case Study of Precision of GPS Differential Correction Strategies: Influence on aDcp Velocity and Discharge Estimates. JOURNAL OF HYDRAULIC ENGINEERING ? ASCE / MARCH 2006. 225~234
[69] Ming Yang. Noniterative Method of Solving the GPS Double-Differenced Pseudorange Equations. JOURNAL OF SURVEYING ENGINEERING ? ASCE / NOVEMBER 2005.130~135
[70] Gourevitch S, F. Van Diggelen et al, Real-Time Kinematic GPS eith OTF Initialization. ION GPS95. California: Palm Springs, 1995. 167~170
[71]王爱朝,张琰. GPS动态定位的初始化.测绘通报,1994, 6
[72] W.Hofmann and B.Remondi(1988):The Antenna Exchange: One Aspect of High-Precision GPS Kinematic Survey. Presented at International GPS Workshop, Technischule, Darmsfadt, FRG, April 10-13.
[73] Frei,E. And Beutler, G, Rapid static positioning based on the fast ambiguity resolution approach (FARA): theory and first results, Manuscripta Geodaetica, 1990 ,pp.1059~1067
[74] Hasanuddin Z. Abidin: On the construction of the ambiguity searching space for on-the-fly ambiguity resolution. Navigation, ION, 1993,40(3)
[75] Hatch R, Euler HJ. Comparison of several AROF kinematic techniques. Proceedings of ION GPS94, Salt Lack City, Utah,363~370
[76] Chen C,Lachapelle G. A Comparison of the FASF and Least-Squars Seach Algorithms for on-the fly Ambiguity Reaolution. Navigation: Journal of The Institute ofNavigation, 1995,42(2):371~389
[77] Skidmore T A. A GPS coverage model. Proceedings of the 48th Annual Meeting, 1992, Colorado Springs, CO, USA
[78] Negast W J, Paschall R N. Correction of Selection Availability affects using Markov models in an extended Kalman filter. Proceedings of the 48th Annual Meeting, 1992, Colorado Spings, CO, USA
[79] Dougherty J J, EL-Sherief H, Simon D J, et al. GPS modeling for designing aerospace vehicle navigation systems. IEEE Transactins on Aerospace and Electronic Systems. IEEE Transactions on Aerospace and Electronic Systems, April 1995, 31(2); 695~706
[80] Rankin J. GPS and differential GPS: an error model for sensor simulation. IEEE 1994 Position Location and Navigation Symposium, April 11~15,1994, Las Vegas, Nevada, USA
[81] Frieldland B. Optimum steady-state position and velocity estimation using noisy sampled position data. IEEE Transactions on Aerospace and Electronic Systems, 1973,9(6):906~911
[82]樊功瑜.误差理论与测量平差.同济大学出版社, 1998, 2
[83] Kaatz G, Kidh T, Richmond C et al. Test Results for the High-Dynamics Instrumentation Set(HDIS). Proceedings of ION GPS. Colorado,1989(42):87~102
[84] Singer R A. Estimating optimal tracking filter performance for manned maneuvering targets. IEEE Transactions on Aerospace and Electronic Systems,1970,6(4):473~483
[85] Tredway, Brian R. Using GPS to Collect Trajectory Data for Ejection Seat Design, Validation, and Testing. MS thesis, AFIT/GE/ENG/02M-27.
[86]郭树人,郭海荣,何海波. GPS动态数据处理中的快速Kalman滤波算法.测绘科学技术学报, 2006, 6, 23 ,3
[87] WANG Li-heng, LI Chang-xi. Filter Modeling and Simulation for High Dynamic Testing System. Advances in Systems science and Applications (2006)Vol.6,No.2
[88]房建成,万德钧,周百令. GPS动态定位中的自适应卡尔曼滤波模型的建立及其算法研究.船舶工程, 1997(2).
[89] Zhou hongren, Kumar K S P. A current statistical model and adaptive algorithm for estimating maneuvering targets. AIAA. Journal of Guidance, Control and Dynamics,1984, 7(5)
[90]宋迎春,陈正阳. GPSPINS组合导航中的自适应滤波算法.湘潭大学自然科学学报, 2006,6, 28. 2
[91] Koch K R and Yang Y. Robust Kalman filter for rank deficient observation model [J ] . Journal of Geodesy ,1998 ,72 :436 - 441.
[92]王厚基. GPS增强系统的定位精度.导航, 1997, No.4
[93]王海军,王泽民,李裴. Inverse GPS技术在飞行器定位中应用方案分析.全球定位系统, 2005.(2)6
[94]岳晓奎,袁建平,吴琼.伪卫星技术发展和应用综述.全球定位系统, 2005.2, 47
[95]王利恒,胡桂阳,李昌禧.基于伪码测距的弹射试验测试系统设计,华中科技大学学报, 2006, (6)
[96]李学蔷,普杰信等.基于GPS授时的数据同步技术应用基础.信息技术,2004, 10(10):86~89.
[97] J.M. Hilkert. Kinematic Algorithms for Line-of-Sight Pointing and Scanning using INS / GPS Position and Velocity Information. Acquisition, Tracking, and Pointing XIX, edited by Michael K. Masten, Larry A. Stockum, Proceedings of SPIE Vol. 5810. 11~23
[98] Young C Lee and Daniel G. O’laughlin. Performance analysis of a tightly coupled GPS/inertial system for two integrity monitoring methods. Navigation, ION, 2000,47(3)
[99] Presidential Decision Directive, U.S. Global Positioning System Policy.March 28,1996
[100] U.S. Space-Based Positioning, Navigation, and Timing Policy. December 15, 2004