采用非差模型的区域连续运行参考站网地学应用方法研究
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摘要
近年来,以美国的GPS、俄罗斯的GLONASS、欧盟的Galileo和中国的北斗卫星导航系统BeiDou为代表的GNSS技术蓬勃发展,引发了导航定位领域的深刻变革,其应用领域日益广泛,GNSS在地学领域的应用一直以来是学者们所致力研究的重要课题。
CORS是近年来发展起来的,集卫星导航定位、计算机网络、数字通信等高新科技多方位、深度结晶的GNSS领域的新产物,为开展GNSS地学应用研究提供了重要的基础设施。我国现已建成各类CORS系统近百个,纵览国内的CORS系统建设和应用,存在的问题比较突出,主要体现在“重建设,轻应用”,应用模式单一,没有充分发挥CORS的潜在价值。特别是省市一级的CORS系统,基本都是服务于实时差分定位,对于在地球动力学、大气科学、地震学、海洋科学等诸多地球科学领域的实质性应用尚处于起步阶段。本文旨在深入挖掘CORS的潜在应用价值,拓展其应用领域,突破CORS地学应用中的关键技术难题。
以往的CORS地学应用研究中,大多采用相对成熟的双差定位模式。近年来,非差PPP技术的日益成熟为CORS地学应用的研究开辟了一条新途径。相比于双差定位模式,PPP保留了更多的观测值信息,具有模型简单、无需基准站、测站间不受距离限制、点位精度均匀且数据处理效率高等诸多优点,在很多领域得到了广泛的应用。本文基于非差PPP技术系统深入地研究了区域CORS在地学领域中的应用,着重开展了天顶大气可降水量的PPP反演方法及时空特征分析、PPP坐标时间序列分析及区域速度场估计和地震同震位移的单历元PPP确定方法等方面的研究,主要研究内容及取得的研究成果如下：
(1)总结了国内外CORS系统的建设和应用现状,分析了开展CORS地学应用研究的重要性。全面综述了PPP相关关键技术的最新进展,鉴于PPP技术的显著优势,提出了基于非差PPP进行CORS地学应用研究。
(2)深入研究了PPP定位中涉及的几个关键问题,包括函数模型、随机模型和参数估计等,分析了PPP的各项误差来源,给出误差的消除或削减策略。结合实例数据,对本文所使用的精密单点定位软件TriP的静态和动态定位精度进行了评定,得出TriP的静态和动态定位N、E、U方向的中误差分别为±0.0030m、±0.0031m、±0.0048m和±0.0104m、±0.0136m、±0.0291m,为本文后续基于该技术的地学应用研究奠定了基础。
(3)天顶PWV的PPP反演方法及时空特征分析。研究了基于PPP技术进行天顶大气可降水量反演的基本理论和方法,在分析区域对流层加权平均温度与地面气象元素间关系的基础上,提出了区域对流层加权平均温度的多元非线性模型的建模方法,并基于此首次建立了江苏区域对流层加权平均温度模型,经验证模型精度达到±2.91K,优于Bevis经验公式在江苏地区±3.48K的精度。此外,利用JSCORS近5年的观测数据,分析了天顶PWV的时空变化特征。对PWV的年变化、季节变化、月变化、日变化特征进行了深入分析,同时对PWV与经纬度变化的关系也进行了分析,结果发现PWV的变化与纬度的变化强相关,而与经度变化关系较小。
(4)PPP坐标时间序列分析及区域速度场估计。基于静态PPP技术解算了区域CORS的坐标时间序列,在区域空间滤波的基础上,分析了GPS基准站的周期特性和噪声特性。对坐标时间序列的频谱分析的结果表明：U方向年周期运动特征最为突出；大部分基准站点N方向具有明显的年周期项；大部分基准站点E方向具有明显的半年周期项。最大似然估计分析得到的坐标时间序列噪声特性表明：N、E方向“白噪声+闪烁噪声+随机漫步噪声”为最佳噪声模型组合；U方向“白噪声+闪烁噪声”为最佳噪声模型组合。此外计算了顾及有色噪声的区域速度场,跟双差解算结果比较后发现,二者之间的差值具有一定的系统性,但基本在3mm/yr以内,从而验证了PPP方法的正确性。
(5)地震同震位移的单历元PPP确定方法研究。研究了基于单历元PPP的高频GPS观测数据用于同震位移确定的基本方法,主要对定位结果的滤波方法进行了深入研究。在常规恒星日滤波的基础上,提出了一种顾及分段相似性的恒星日滤波优化算法,即在构建滤波残差序列之前,首先确定用于构建滤波的坐标残差时间序列与地震当天坐标残差时间序列的相似性,根据相似性度量指标的大小确定权重后再进行滤波。通过两个模拟算例的分析表明,顾及分段相似性的优化算法大大改善了传统恒星日滤波的效果,能够克服常规滤波方法固有的缺陷,有利于实现恒星日滤波的无人工干预批处理。此外,利用提出的恒星日滤波优化算法,分析了日本Mw9.0级地震对中国东部沿海的影响,结果显示,震时我国东部沿海基准站发生了显著的水平方向和垂直方向的瞬时形变,幅度约为10cm,震后没有产生大于1cm的永久性位移,与国内外相关结果基本一致,验证了PPP技术用于同震地表形变分析的有效性。
(6)区域CORS综合应用与增值服务初探。按照CORS系统的服务性质,将系统的服务分为基本应用服务和高级应用服务(增值服务)两种,总结研究了各项应用服务的主要内容和关键技术难点,探讨了区域CORS的综合应用,将区域CORS的应用服务领域从目前单一的实时定位服务,拓展到其它地学应用领域,对区域CORS开展增值服务应用具有重要的参考价值。
In recent years, flourishing development of GNSS including GPS, GLONASS, Galileo and China's Compass satellite navigation system promotes profound revolution in the field of navigation and positioning, leading to increasingly widespread applications, particularly in geosciences field which has always being an important issue for scholars to be committed to research.
Continuously Operating Reference Stations (CORS) is a newly developed product from comprehensive and deep integration of GNSS navigation and positioning technology, computer science and digital communication. And it provides an important infrastructure to carry out GNSS application research. About one hundred CORS have been established in China, and there are some pronounced problems, mainly in lack of attention to applications. Single application mode limits the potential value of CORS. Especially, provincial CORS are based on real-time undifferenced positioning, leading to substantial applications in geodynamics, atmosphere, seismology and oceanography still in their infancy. This dissertation aims at digging out potential application value of CORS, extending its application field and breaking through key issues in geoscience applications.
In the past, double-difference positioning approach was always used for the research of geoscience applications of CORS. In recent years, the increasing maturity of the PPP technology offers a new way for CORS geoscience-application research. Compared to the double differenced positioning approach, precise point positioning (PPP) retains more observations with a simple model, unlimited distances, without reference station, even point accuracy and high processing efficiency. As a result, it has been widely applied in many fields. Based on PPP technology, this dissertation systematically studied applications of regional CORS to geoscience field, focus on PPP inversion methodology and spatial-temporal characteristics analysis of zenith atmospheric precipitatable water, PPP coordinate time series analysis and regional velocity field estimation, PPP algorithm for co-seismic displacement from single epoch. Specific contents and main achievements of this dissertation are summarized as follows:
1) The status of domestic and international CORS system construction and application is summarized, and the importance of geoscience application using CORS is analyzed. The latest development of PPP-related key technologies is comprehensively reviewed, and PPP-based geoscience applications using CORS in view of significant advantages of PPP are proposed.
2) Several key problems of PPP are studied, including the function model, stochastic model and parameter estimation etc. Error sources of PPP are analyzed, and strategies of error elimination or reduction are proposed. The accuracy of the static and dynamic PPP is assessed using TriP software, and their standard deviation of static and dynamic positions are±0.0030m,±0.0031m,±0.0048m和±0.0104m,±0.0136m,±0.0291m, respectively, which lays the theoretical foundation for the following application research of the PPP-based geoscience.
3) Zenith perceptible water vapor inversion methods, temporal and spatial variation analysis using PPP are studied. Fundamental theory and methodology of CORS in ground-based GPS atmospheric sounding are studied based on the determination of local troposphere weighted average temperature as well as the analysis of temporal and spatial variation of zenith water vapor, and a multivariate nonlinear model on the basis of regional troposphere weighted average temperature is proposed and it is first used to establish Jiangsu Province troposphere weighted average temperature model. After verification, accuracy of this model achieves±2.91K better than that of Bevis empirical model+3.48K. the applicability analysis of regional tropospheric model are emphatically studied. Besides, with the tracking data for the past five years of JSCORS, the temporal and spatial variation of zenith water vapor is analyzed. Temporal characteristics of PWV including annual, seasonal, monthly and daily variation are deeply analyzed, and relationship between PWVand longitude/latitude variation as well. The resultant PWV variation shows strong relationship to latitude variation, and weak connection to longitude variation.
4) Coordinate time series is analyzed and regional velocity filed is determined using PPP. Based on the static PPP, time series of regional CORS are solved. After regional spatial filtering, periodic and noise characteristics of GPS base stations are analyzed. Spectrum analysis of coordinate time series indicates that periodic movement dominates in U direction, most fudicial stations show significant characteristics of annual period in N direction and semi-annual period in E direction. MLE (Maximum Likelihood Estimation) analysis suggests the best noise model for N and E components is the combination of white noise+flicker noise+random walk noise, the the best noise model for U components is combination of white noise+flicker noise. Besides, comparison of regional velocity field considering colored noise and the one from double difference method presents a systematical difference within3mm/yr, which verifies correctness of PPP.
5) Coseismic displacement determination method using single epoch PPP is investigated. In this dissertation, the basic theory of coseismic deformation monitoring based on the high frequency GPS data is researched, and especially on the filtering method for positioning results. Accounting for segments' similarity, an improved sidereal filtering method is proposed based on conventional sidereal filtering method. That is, before building filtering operator, the segments' similarity of the residual coordinates time series between earthquake occurrence and former day/following day is firstly determined, and filtering is performed based on similarity index according to the weight of each day. The simulation results show that the improved sidereal filtering can effectively improve the single epoch positioning accuracy and reliability, completely overcome the defects of traditional filtering method, and is beneficial to batch processing without manual intervention. Finally, the coseismic displacements of Mw9.0Tohoku-oki earthquake are analyzed with some GPS continuous stations located along China's east coast using epoch by epoch PPP and improved sidereal filtering technique proposed in this dissertation. The result shows an apparent displacement along horizontal and vertical directions with amplitude about10cm. However, after the earthquake, there is no obvious permanent displacements more than1cm in agreement with related results at home and abroad, which verifies effectiveness of coseismic displacement analysis using PPP.
6) Integrated application and value-added service of regional CORS base on the research of three key fields of geoscience applications are discussed. Systematic services can be classified into two groups:basic application service and higher-level application service (value-added service) in terms of CORS service nature. Their corresponding main contents and key technology difficulties are summarized. The field of applications services are expanded from single real-time positioning to other geoscience applications, and they are of important reference value for the developments of value-added services with regional CORS.
CORS是近年来发展起来的,集卫星导航定位、计算机网络、数字通信等高新科技多方位、深度结晶的GNSS领域的新产物,为开展GNSS地学应用研究提供了重要的基础设施。我国现已建成各类CORS系统近百个,纵览国内的CORS系统建设和应用,存在的问题比较突出,主要体现在“重建设,轻应用”,应用模式单一,没有充分发挥CORS的潜在价值。特别是省市一级的CORS系统,基本都是服务于实时差分定位,对于在地球动力学、大气科学、地震学、海洋科学等诸多地球科学领域的实质性应用尚处于起步阶段。本文旨在深入挖掘CORS的潜在应用价值,拓展其应用领域,突破CORS地学应用中的关键技术难题。
以往的CORS地学应用研究中,大多采用相对成熟的双差定位模式。近年来,非差PPP技术的日益成熟为CORS地学应用的研究开辟了一条新途径。相比于双差定位模式,PPP保留了更多的观测值信息,具有模型简单、无需基准站、测站间不受距离限制、点位精度均匀且数据处理效率高等诸多优点,在很多领域得到了广泛的应用。本文基于非差PPP技术系统深入地研究了区域CORS在地学领域中的应用,着重开展了天顶大气可降水量的PPP反演方法及时空特征分析、PPP坐标时间序列分析及区域速度场估计和地震同震位移的单历元PPP确定方法等方面的研究,主要研究内容及取得的研究成果如下：
(1)总结了国内外CORS系统的建设和应用现状,分析了开展CORS地学应用研究的重要性。全面综述了PPP相关关键技术的最新进展,鉴于PPP技术的显著优势,提出了基于非差PPP进行CORS地学应用研究。
(2)深入研究了PPP定位中涉及的几个关键问题,包括函数模型、随机模型和参数估计等,分析了PPP的各项误差来源,给出误差的消除或削减策略。结合实例数据,对本文所使用的精密单点定位软件TriP的静态和动态定位精度进行了评定,得出TriP的静态和动态定位N、E、U方向的中误差分别为±0.0030m、±0.0031m、±0.0048m和±0.0104m、±0.0136m、±0.0291m,为本文后续基于该技术的地学应用研究奠定了基础。
(3)天顶PWV的PPP反演方法及时空特征分析。研究了基于PPP技术进行天顶大气可降水量反演的基本理论和方法,在分析区域对流层加权平均温度与地面气象元素间关系的基础上,提出了区域对流层加权平均温度的多元非线性模型的建模方法,并基于此首次建立了江苏区域对流层加权平均温度模型,经验证模型精度达到±2.91K,优于Bevis经验公式在江苏地区±3.48K的精度。此外,利用JSCORS近5年的观测数据,分析了天顶PWV的时空变化特征。对PWV的年变化、季节变化、月变化、日变化特征进行了深入分析,同时对PWV与经纬度变化的关系也进行了分析,结果发现PWV的变化与纬度的变化强相关,而与经度变化关系较小。
(4)PPP坐标时间序列分析及区域速度场估计。基于静态PPP技术解算了区域CORS的坐标时间序列,在区域空间滤波的基础上,分析了GPS基准站的周期特性和噪声特性。对坐标时间序列的频谱分析的结果表明：U方向年周期运动特征最为突出；大部分基准站点N方向具有明显的年周期项；大部分基准站点E方向具有明显的半年周期项。最大似然估计分析得到的坐标时间序列噪声特性表明：N、E方向“白噪声+闪烁噪声+随机漫步噪声”为最佳噪声模型组合；U方向“白噪声+闪烁噪声”为最佳噪声模型组合。此外计算了顾及有色噪声的区域速度场,跟双差解算结果比较后发现,二者之间的差值具有一定的系统性,但基本在3mm/yr以内,从而验证了PPP方法的正确性。
(5)地震同震位移的单历元PPP确定方法研究。研究了基于单历元PPP的高频GPS观测数据用于同震位移确定的基本方法,主要对定位结果的滤波方法进行了深入研究。在常规恒星日滤波的基础上,提出了一种顾及分段相似性的恒星日滤波优化算法,即在构建滤波残差序列之前,首先确定用于构建滤波的坐标残差时间序列与地震当天坐标残差时间序列的相似性,根据相似性度量指标的大小确定权重后再进行滤波。通过两个模拟算例的分析表明,顾及分段相似性的优化算法大大改善了传统恒星日滤波的效果,能够克服常规滤波方法固有的缺陷,有利于实现恒星日滤波的无人工干预批处理。此外,利用提出的恒星日滤波优化算法,分析了日本Mw9.0级地震对中国东部沿海的影响,结果显示,震时我国东部沿海基准站发生了显著的水平方向和垂直方向的瞬时形变,幅度约为10cm,震后没有产生大于1cm的永久性位移,与国内外相关结果基本一致,验证了PPP技术用于同震地表形变分析的有效性。
(6)区域CORS综合应用与增值服务初探。按照CORS系统的服务性质,将系统的服务分为基本应用服务和高级应用服务(增值服务)两种,总结研究了各项应用服务的主要内容和关键技术难点,探讨了区域CORS的综合应用,将区域CORS的应用服务领域从目前单一的实时定位服务,拓展到其它地学应用领域,对区域CORS开展增值服务应用具有重要的参考价值。
In recent years, flourishing development of GNSS including GPS, GLONASS, Galileo and China's Compass satellite navigation system promotes profound revolution in the field of navigation and positioning, leading to increasingly widespread applications, particularly in geosciences field which has always being an important issue for scholars to be committed to research.
Continuously Operating Reference Stations (CORS) is a newly developed product from comprehensive and deep integration of GNSS navigation and positioning technology, computer science and digital communication. And it provides an important infrastructure to carry out GNSS application research. About one hundred CORS have been established in China, and there are some pronounced problems, mainly in lack of attention to applications. Single application mode limits the potential value of CORS. Especially, provincial CORS are based on real-time undifferenced positioning, leading to substantial applications in geodynamics, atmosphere, seismology and oceanography still in their infancy. This dissertation aims at digging out potential application value of CORS, extending its application field and breaking through key issues in geoscience applications.
In the past, double-difference positioning approach was always used for the research of geoscience applications of CORS. In recent years, the increasing maturity of the PPP technology offers a new way for CORS geoscience-application research. Compared to the double differenced positioning approach, precise point positioning (PPP) retains more observations with a simple model, unlimited distances, without reference station, even point accuracy and high processing efficiency. As a result, it has been widely applied in many fields. Based on PPP technology, this dissertation systematically studied applications of regional CORS to geoscience field, focus on PPP inversion methodology and spatial-temporal characteristics analysis of zenith atmospheric precipitatable water, PPP coordinate time series analysis and regional velocity field estimation, PPP algorithm for co-seismic displacement from single epoch. Specific contents and main achievements of this dissertation are summarized as follows:
1) The status of domestic and international CORS system construction and application is summarized, and the importance of geoscience application using CORS is analyzed. The latest development of PPP-related key technologies is comprehensively reviewed, and PPP-based geoscience applications using CORS in view of significant advantages of PPP are proposed.
2) Several key problems of PPP are studied, including the function model, stochastic model and parameter estimation etc. Error sources of PPP are analyzed, and strategies of error elimination or reduction are proposed. The accuracy of the static and dynamic PPP is assessed using TriP software, and their standard deviation of static and dynamic positions are±0.0030m,±0.0031m,±0.0048m和±0.0104m,±0.0136m,±0.0291m, respectively, which lays the theoretical foundation for the following application research of the PPP-based geoscience.
3) Zenith perceptible water vapor inversion methods, temporal and spatial variation analysis using PPP are studied. Fundamental theory and methodology of CORS in ground-based GPS atmospheric sounding are studied based on the determination of local troposphere weighted average temperature as well as the analysis of temporal and spatial variation of zenith water vapor, and a multivariate nonlinear model on the basis of regional troposphere weighted average temperature is proposed and it is first used to establish Jiangsu Province troposphere weighted average temperature model. After verification, accuracy of this model achieves±2.91K better than that of Bevis empirical model+3.48K. the applicability analysis of regional tropospheric model are emphatically studied. Besides, with the tracking data for the past five years of JSCORS, the temporal and spatial variation of zenith water vapor is analyzed. Temporal characteristics of PWV including annual, seasonal, monthly and daily variation are deeply analyzed, and relationship between PWVand longitude/latitude variation as well. The resultant PWV variation shows strong relationship to latitude variation, and weak connection to longitude variation.
4) Coordinate time series is analyzed and regional velocity filed is determined using PPP. Based on the static PPP, time series of regional CORS are solved. After regional spatial filtering, periodic and noise characteristics of GPS base stations are analyzed. Spectrum analysis of coordinate time series indicates that periodic movement dominates in U direction, most fudicial stations show significant characteristics of annual period in N direction and semi-annual period in E direction. MLE (Maximum Likelihood Estimation) analysis suggests the best noise model for N and E components is the combination of white noise+flicker noise+random walk noise, the the best noise model for U components is combination of white noise+flicker noise. Besides, comparison of regional velocity field considering colored noise and the one from double difference method presents a systematical difference within3mm/yr, which verifies correctness of PPP.
5) Coseismic displacement determination method using single epoch PPP is investigated. In this dissertation, the basic theory of coseismic deformation monitoring based on the high frequency GPS data is researched, and especially on the filtering method for positioning results. Accounting for segments' similarity, an improved sidereal filtering method is proposed based on conventional sidereal filtering method. That is, before building filtering operator, the segments' similarity of the residual coordinates time series between earthquake occurrence and former day/following day is firstly determined, and filtering is performed based on similarity index according to the weight of each day. The simulation results show that the improved sidereal filtering can effectively improve the single epoch positioning accuracy and reliability, completely overcome the defects of traditional filtering method, and is beneficial to batch processing without manual intervention. Finally, the coseismic displacements of Mw9.0Tohoku-oki earthquake are analyzed with some GPS continuous stations located along China's east coast using epoch by epoch PPP and improved sidereal filtering technique proposed in this dissertation. The result shows an apparent displacement along horizontal and vertical directions with amplitude about10cm. However, after the earthquake, there is no obvious permanent displacements more than1cm in agreement with related results at home and abroad, which verifies effectiveness of coseismic displacement analysis using PPP.
6) Integrated application and value-added service of regional CORS base on the research of three key fields of geoscience applications are discussed. Systematic services can be classified into two groups:basic application service and higher-level application service (value-added service) in terms of CORS service nature. Their corresponding main contents and key technology difficulties are summarized. The field of applications services are expanded from single real-time positioning to other geoscience applications, and they are of important reference value for the developments of value-added services with regional CORS.
引文
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