GPS载波相位定位算法研究
摘要
全球定位系统(GPS)作为世界上最先进的导航与定位系统,随着其在全球的普及,日益显示了卫星定位的巨大优越性和其在经济、军事领域的重大作用。一方面在导航战中,GPS需要实时为地面、空中、海上部队和导弹发射、制导等提供导航定位数据,由于军事需求,定位精度需不断提高;另一方面,随着GPS被广泛应用于汽车、手机、测绘等民用领域,人们对定位精度的要求也不断提高。因此研究GPS定位算法有着重要的意义。
在GPS各种定位算法中,伪距法计算简单,但定位精度低;而载波相位法定位精度虽高,但计算复杂,需要时间长。在载波相位法中,整周模糊度的求解是决定载波相位法精度的关键。
本文主要针对GPS载波相位法做了较为深入的理论分析,提出了相应的算法,并进行了计算机仿真分析。论文首先阐述了GPS系统的概况,介绍了GPS定位方式的研究现状;然后介绍了GPS的组成,GPS信号结构,以及GPS定位的坐标系统和时间系统;其次研究了影响GPS定位精度的误差以及减小误差的方法和措施;重点研究了GPS各种定位算法,分别讨论了利用伪码测量的差分定位算法和载波相位测量的差分定位算法,然后提出了一种新的不用计算整周模糊度的五点解算法,显著提高了算法速度,并对该算法进行了仿真验证。再次研究了载波相位测量的整周模糊度解算理论,针对基准站和接收机的长基线,提出了一种三角形参考网,并结合LAMBDA(least square ambiguity decorrelation adjustment method),提出了一种新的单历元模糊度解算法,该算法只需要一个历元,不用考虑周跳的探测与修复。同时该算法采用了下三角降相关思想,减小了搜索范围,提高了算法速度,定位精度也得到了保证,随后给出了新算法的仿真验证。论文的最后概括了本文的研究意义和工作内容,并指出下一步的研究工作。
As the most advanced navigation and positioning system in the world, GPS(Global Positioning System) has become popularized in the world, it increasingly shows the great advantages of satellite navigation and become a major role in the economy and the military field. On the one hand, GPS requires navigation and positioning data available for ground, air and sea forces and launching missile and guidance in real time because that the military needs to improve the positioning accuracy continuously. On the other hand, GPS is widely used in cars, mobile phones and other civilian areas. The need of the positioning accuracy is gradually rised , thus the positioning algorithm of GPS is of great significance.
Among all the different GPS methods, the pseudo method is simple, but the accuracy is low. Meanwhile, the carrier phase method is with high accuracy, but the calculation is complex and takes a long time. In the carrier phase method, the solution of the integer cycle ambiguity is the key to determine the accuracy of the carrier phase method.
This paper mainly analyzes the GPS carrier phase method and proposes a relevant algorithm according to the results of computer simulation. Firstly, it introduces the overview of GPS system and research status in GPS positioning method, then it introduces the composition of GPS, GPS signal structure, coordinate system and time system in which GPS positioning. Secondly, it studies the error which affect in GPS positioning accuracy and some methods and measures which can reduce error. It focuses on studying the various GPS positioning algorithm, discusses differential positioning algotithm in measuing pseudo-code and carrier phase respectively, and then it proposes a five-point solution algorithms which do not need to solute the whole cycle ambiguity, and significantly improves the speed of the algorithm and gives simulation of the algorithm at the same time. Again it studies ambiguity solving theory at the carrier phase measurement, in connection with base stations and receivers for long baseline, a triangular reference network which combined with LAMBDA (least square ambiguity decorrelation adjustment method) is proposed in a new single epoch ambiguity resolution algorithm. The algorithm requires only one epoch, regardless of cycle slip detection and repair and is used in the descend triangle to decrease the search range, thereby increasing the speed of the algorithm and improving the accuracy of positioning, and then given practical examples of the simulation. Finally, the paper sums up the significance of this study and the work content, and the further research work.
在GPS各种定位算法中,伪距法计算简单,但定位精度低;而载波相位法定位精度虽高,但计算复杂,需要时间长。在载波相位法中,整周模糊度的求解是决定载波相位法精度的关键。
本文主要针对GPS载波相位法做了较为深入的理论分析,提出了相应的算法,并进行了计算机仿真分析。论文首先阐述了GPS系统的概况,介绍了GPS定位方式的研究现状;然后介绍了GPS的组成,GPS信号结构,以及GPS定位的坐标系统和时间系统;其次研究了影响GPS定位精度的误差以及减小误差的方法和措施;重点研究了GPS各种定位算法,分别讨论了利用伪码测量的差分定位算法和载波相位测量的差分定位算法,然后提出了一种新的不用计算整周模糊度的五点解算法,显著提高了算法速度,并对该算法进行了仿真验证。再次研究了载波相位测量的整周模糊度解算理论,针对基准站和接收机的长基线,提出了一种三角形参考网,并结合LAMBDA(least square ambiguity decorrelation adjustment method),提出了一种新的单历元模糊度解算法,该算法只需要一个历元,不用考虑周跳的探测与修复。同时该算法采用了下三角降相关思想,减小了搜索范围,提高了算法速度,定位精度也得到了保证,随后给出了新算法的仿真验证。论文的最后概括了本文的研究意义和工作内容,并指出下一步的研究工作。
As the most advanced navigation and positioning system in the world, GPS(Global Positioning System) has become popularized in the world, it increasingly shows the great advantages of satellite navigation and become a major role in the economy and the military field. On the one hand, GPS requires navigation and positioning data available for ground, air and sea forces and launching missile and guidance in real time because that the military needs to improve the positioning accuracy continuously. On the other hand, GPS is widely used in cars, mobile phones and other civilian areas. The need of the positioning accuracy is gradually rised , thus the positioning algorithm of GPS is of great significance.
Among all the different GPS methods, the pseudo method is simple, but the accuracy is low. Meanwhile, the carrier phase method is with high accuracy, but the calculation is complex and takes a long time. In the carrier phase method, the solution of the integer cycle ambiguity is the key to determine the accuracy of the carrier phase method.
This paper mainly analyzes the GPS carrier phase method and proposes a relevant algorithm according to the results of computer simulation. Firstly, it introduces the overview of GPS system and research status in GPS positioning method, then it introduces the composition of GPS, GPS signal structure, coordinate system and time system in which GPS positioning. Secondly, it studies the error which affect in GPS positioning accuracy and some methods and measures which can reduce error. It focuses on studying the various GPS positioning algorithm, discusses differential positioning algotithm in measuing pseudo-code and carrier phase respectively, and then it proposes a five-point solution algorithms which do not need to solute the whole cycle ambiguity, and significantly improves the speed of the algorithm and gives simulation of the algorithm at the same time. Again it studies ambiguity solving theory at the carrier phase measurement, in connection with base stations and receivers for long baseline, a triangular reference network which combined with LAMBDA (least square ambiguity decorrelation adjustment method) is proposed in a new single epoch ambiguity resolution algorithm. The algorithm requires only one epoch, regardless of cycle slip detection and repair and is used in the descend triangle to decrease the search range, thereby increasing the speed of the algorithm and improving the accuracy of positioning, and then given practical examples of the simulation. Finally, the paper sums up the significance of this study and the work content, and the further research work.
引文
[1]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.2006.20-41。
[2]陈石磊.GPS载波相位定位技术的研究[D].西安:西安电子科技大学硕士学位论文.2008。
[3]刘基余.GPS卫星导航定位原理与方法[M].北京:科学出版社.2003.9-14。
[4]王惠南.GPS导航原理与应用[M].北京:科学出版社.2003.3-12,67-90。
[5]黄丁发,熊永良,周乐韬等.GPS卫星导航定位技术与方法[M].北京:科学出版社.2009.1-20,127-131。
[6]谢岗.GPS原理与接收机设计[M].北京:电子工业出版社.2009.24-38。
[7]李征航,黄劲松.GPS测量与数据处理[M].武汉:武汉大学出版社.2005.26-34。
[8]张文山.GPS测量分析及控制[J].测绘与空间地理信息.2008,31(3).110-111。
[9]王晓华,郭敏.GPS卫星定位误差分析[J].全球定位系统.2005,1.43-47。
[10]邹海岩,杨秀丽.GPS误差分析[J].承德民族技术学院学报.2005,2.84。
[11]吕代和.GPS测量的几种误差及相应处理方法[J].贵州科学.2007,2(3).194-197。
[12] Thomas Herring.Modern Navigation.Massachusettes Institute of Technology[J]. 2003.145-159.
[13]刘根友,朱才连,任超.GPS载波相位与伪距联合实时定位算法[J].测绘通报.2001,10.10-11。
[14]许亚玲,陈向东.载波相位测量在高精度导航信号监测接收数据处理中的应用[J].全球定位系统.2005,3.16-17。
[15]李康吉.动静态GPS组合定位的算法研究[D].江苏大学硕士学位论文.2005。
[16]高星伟,刘经南,葛茂荣.网络RTK基准站间基线单历元模糊度搜索方法[J].测绘学报.2002,31(4).305-309。
[17] Pan Shuguo,Wang Qing,Ke Fuyang,Deng Jian.Method for integer ambiguity resolution in GPS network RTK[J].Journal of Southeast University(English Edition).2009,25(4).491-495.
[18]唐卫明,刘经南,施闯,楼益栋.三步法确定网络RTK基准站双差模糊度[J].武汉大学学报(信息科学版).2007,32(4).305-308。
[19]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).267-270。
[20]高成发,赵毅,万德钧.用LAMBDA改进算法固定GPS整周模糊度[J].武汉大学学报(信息科学版).2006,31(8).744-747。
[21] Teunissen PJG.A New Method for Fast Carrier Phase Ambiguity Estimation[C]. IEEE Position Location and Navigation Symposium,Las Vegas.1994.
[22] Teunissen PJG.Least Squares Estimation of the Integer GPS Ambiguities [C].IAG General Meeting.Beijing,China.1993.
[23] Liu L T,Hsu H T,Zhu Y Z,etal.A New Approach to GPS Ambiguity Decorrelation[J].Journal of Geodesy.1999,73.478-490.
[24]潘树国,彭慧,王庆.一种中长基线网络RTK模糊度快速解算方法[J].数据采集与处理.2009,24(6).749-753。
[25] Sun H,Cannon M E,Melgard T E.Real-time GPS reference network carrier phase ambiguity resolution[C].Insmtute of Navigation National Technical Meeting.San Diego CA,USA.1999.25-27.
[26] Grgich P M,Kealy A,Gordini C,eta1.Atmospheric bias interpolation for network RTK GPS[C].International Global Navigation Satellite Systems Society IGNSS Symposium.Queensland,Australia.2006.17-21.
[27] Sakidin H,Rizam M,Bakar A eta1.Effect of GPS tropospheric delay Neill mapping function simplification[J] . Malavsian Journal of Mathematical Sciences.2009,3(1).95-107.
[28] Zhou Letao,Huang Dingfa,Yuan Linguo,eta1.A Kalman filtering algorithm for online integer ambiguity resolution in reference station network[J] . Aeta Geodaeticaet Cartographica Sinica.2007,36(1).37-41.
[29] Hamzah S.Mohd R A B,Abdul R M S,eta1.Effect of GPS tropospheric delay Neill mapping function simplification[J] . Malaysian Journal of Mathematical Sciences.2009,3(1).95-107.
[30]邓健,王庆,潘树国.网络RTK参考站间低仰角卫星模糊度快速解算方法[J].仪器仪表学报.2010,31(6).1201-1206。
[31]胡丛玮,刘大杰.单历元确定DEF整周模糊度的分析[J].南京航空航天大学学报.2010.33(3).267-271。
[32]高星伟.网络RTK的轨道误差分析与消除[J].测绘科学.2005,30(2).41-43.
[33]喻国荣.单历元模糊度解算问题[J].测绘通报.2003,11.6-7,13。
[34]宋克忠,周森,张学力.网络RTK技术的工作原理[J].2007,2.61-62。
[35] CHEN X M,HAN S W,RIZOS C,GOH P C.Improving Real time Positioning Efficiency Using the Singapore Integrated Multiple Reference Station Network(SIMRSN).Proc 13th Int Tech Meeting Satellite Division US Inst Navigation[C].Salt Lake City.2000.
[36] HU G R,KHOO H S.Development and Assessment of GPS VRS for RTK Positioning[J].J Geod.2003,77.292-302.
[37] HAN S,RIZOS C.An Instantaneous Ambiguity Resolution Technique for Medium-range GPS Kinematic Positioning.Proc 10th Int Tech Meeting of the Satellite Division of the U.S. Inst of Navigation GPS ION 97[C].Kansas City.1997.1789-1800.
[38]王振杰,欧吉坤,柳林涛.单频GPS快速定位中病态问题的解法研究[J].测绘学报.2005,34(3).196-200。
[39] Xu P,Cannon E,Lachapelle G.Mixed integer observation models.GPS decorrelation and integer programming[J] . Technical Reports Department of Geodesy and Geoinformatics.2000,106(2).l-26.
[40]罗孝文,欧吉坤.中长基线GPS网络RTK模糊度快速解算的一种新方法[J].武汉大学学报(信息科学版).2007,32(2).156-159。
[41]祝会忠,高星伟,徐爱功,李明.网络RTK流动站整周模糊度的单历元解算[J].测绘科学.2010,35(2).77-79。
[2]陈石磊.GPS载波相位定位技术的研究[D].西安:西安电子科技大学硕士学位论文.2008。
[3]刘基余.GPS卫星导航定位原理与方法[M].北京:科学出版社.2003.9-14。
[4]王惠南.GPS导航原理与应用[M].北京:科学出版社.2003.3-12,67-90。
[5]黄丁发,熊永良,周乐韬等.GPS卫星导航定位技术与方法[M].北京:科学出版社.2009.1-20,127-131。
[6]谢岗.GPS原理与接收机设计[M].北京:电子工业出版社.2009.24-38。
[7]李征航,黄劲松.GPS测量与数据处理[M].武汉:武汉大学出版社.2005.26-34。
[8]张文山.GPS测量分析及控制[J].测绘与空间地理信息.2008,31(3).110-111。
[9]王晓华,郭敏.GPS卫星定位误差分析[J].全球定位系统.2005,1.43-47。
[10]邹海岩,杨秀丽.GPS误差分析[J].承德民族技术学院学报.2005,2.84。
[11]吕代和.GPS测量的几种误差及相应处理方法[J].贵州科学.2007,2(3).194-197。
[12] Thomas Herring.Modern Navigation.Massachusettes Institute of Technology[J]. 2003.145-159.
[13]刘根友,朱才连,任超.GPS载波相位与伪距联合实时定位算法[J].测绘通报.2001,10.10-11。
[14]许亚玲,陈向东.载波相位测量在高精度导航信号监测接收数据处理中的应用[J].全球定位系统.2005,3.16-17。
[15]李康吉.动静态GPS组合定位的算法研究[D].江苏大学硕士学位论文.2005。
[16]高星伟,刘经南,葛茂荣.网络RTK基准站间基线单历元模糊度搜索方法[J].测绘学报.2002,31(4).305-309。
[17] Pan Shuguo,Wang Qing,Ke Fuyang,Deng Jian.Method for integer ambiguity resolution in GPS network RTK[J].Journal of Southeast University(English Edition).2009,25(4).491-495.
[18]唐卫明,刘经南,施闯,楼益栋.三步法确定网络RTK基准站双差模糊度[J].武汉大学学报(信息科学版).2007,32(4).305-308。
[19]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).267-270。
[20]高成发,赵毅,万德钧.用LAMBDA改进算法固定GPS整周模糊度[J].武汉大学学报(信息科学版).2006,31(8).744-747。
[21] Teunissen PJG.A New Method for Fast Carrier Phase Ambiguity Estimation[C]. IEEE Position Location and Navigation Symposium,Las Vegas.1994.
[22] Teunissen PJG.Least Squares Estimation of the Integer GPS Ambiguities [C].IAG General Meeting.Beijing,China.1993.
[23] Liu L T,Hsu H T,Zhu Y Z,etal.A New Approach to GPS Ambiguity Decorrelation[J].Journal of Geodesy.1999,73.478-490.
[24]潘树国,彭慧,王庆.一种中长基线网络RTK模糊度快速解算方法[J].数据采集与处理.2009,24(6).749-753。
[25] Sun H,Cannon M E,Melgard T E.Real-time GPS reference network carrier phase ambiguity resolution[C].Insmtute of Navigation National Technical Meeting.San Diego CA,USA.1999.25-27.
[26] Grgich P M,Kealy A,Gordini C,eta1.Atmospheric bias interpolation for network RTK GPS[C].International Global Navigation Satellite Systems Society IGNSS Symposium.Queensland,Australia.2006.17-21.
[27] Sakidin H,Rizam M,Bakar A eta1.Effect of GPS tropospheric delay Neill mapping function simplification[J] . Malavsian Journal of Mathematical Sciences.2009,3(1).95-107.
[28] Zhou Letao,Huang Dingfa,Yuan Linguo,eta1.A Kalman filtering algorithm for online integer ambiguity resolution in reference station network[J] . Aeta Geodaeticaet Cartographica Sinica.2007,36(1).37-41.
[29] Hamzah S.Mohd R A B,Abdul R M S,eta1.Effect of GPS tropospheric delay Neill mapping function simplification[J] . Malaysian Journal of Mathematical Sciences.2009,3(1).95-107.
[30]邓健,王庆,潘树国.网络RTK参考站间低仰角卫星模糊度快速解算方法[J].仪器仪表学报.2010,31(6).1201-1206。
[31]胡丛玮,刘大杰.单历元确定DEF整周模糊度的分析[J].南京航空航天大学学报.2010.33(3).267-271。
[32]高星伟.网络RTK的轨道误差分析与消除[J].测绘科学.2005,30(2).41-43.
[33]喻国荣.单历元模糊度解算问题[J].测绘通报.2003,11.6-7,13。
[34]宋克忠,周森,张学力.网络RTK技术的工作原理[J].2007,2.61-62。
[35] CHEN X M,HAN S W,RIZOS C,GOH P C.Improving Real time Positioning Efficiency Using the Singapore Integrated Multiple Reference Station Network(SIMRSN).Proc 13th Int Tech Meeting Satellite Division US Inst Navigation[C].Salt Lake City.2000.
[36] HU G R,KHOO H S.Development and Assessment of GPS VRS for RTK Positioning[J].J Geod.2003,77.292-302.
[37] HAN S,RIZOS C.An Instantaneous Ambiguity Resolution Technique for Medium-range GPS Kinematic Positioning.Proc 10th Int Tech Meeting of the Satellite Division of the U.S. Inst of Navigation GPS ION 97[C].Kansas City.1997.1789-1800.
[38]王振杰,欧吉坤,柳林涛.单频GPS快速定位中病态问题的解法研究[J].测绘学报.2005,34(3).196-200。
[39] Xu P,Cannon E,Lachapelle G.Mixed integer observation models.GPS decorrelation and integer programming[J] . Technical Reports Department of Geodesy and Geoinformatics.2000,106(2).l-26.
[40]罗孝文,欧吉坤.中长基线GPS网络RTK模糊度快速解算的一种新方法[J].武汉大学学报(信息科学版).2007,32(2).156-159。
[41]祝会忠,高星伟,徐爱功,李明.网络RTK流动站整周模糊度的单历元解算[J].测绘科学.2010,35(2).77-79。