WiFi辅助下附有高程先验信息的GNSS定位
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摘要
WiFi(wireless fidelity)辅助下附有高程信息的GPS定位可以解决城市环境下卫星数不足时的定位问题,该方法首先利用WiFi定位获得概略二维坐标,然后通过附有高程先验信息的GPS定位来求解最后的位置参数。在此基础上作了进一步的研究和探讨,将卫星数不足情况下的单GPS定位问题延伸到多系统(BDS+GPS)定位,并探讨了卫星天空几何分布和先验高程精度对最终定位结果的影响。实验结果表明:当卫星分布不均匀或过于集中时,观测方程系数矩阵趋于病态,使得定位结果误差变大,多系统(BDS+GPS)定位可以削弱卫星分布对于定位结果的影响;另外,当先验高程偏差增加时,最后的定位精度也会随之下降,但合理范围内的偏差仍然可以满足普通导航定位的需求。
WiFi assisted GPS positioning with fixed geodetic height could be used to solve positioning problems in the situation where there are not enough GPS satellites in view. This method includes two steps: firstly, approximate longitude and latitude are obtained through WiFi positioning method, and then final coordinates is worked out by combing three GPS observations and fixed geodetic height. This paper extends the study from using GPS to using BDS due to insufficient satellites. Also, the influence of satellite geometric distribution and priori geodetic height bias on positioning accuracy is discussed. An experiment is carried out and results showed that, observation equation coefficient matrix tends to be ill-conditioned and the positioning accuracy would be greatly decreased if satellites observed in view are too closed to each other. But the influence mentioned above could be weakened by using observations from different navigation satellite systems, such as BDS+GPS. In addition, the final positioning accuracy will decrease as the priori height bias increases, but bias within a reasonable range can still meet the needs of ordinary navigation and positioning.
WiFi assisted GPS positioning with fixed geodetic height could be used to solve positioning problems in the situation where there are not enough GPS satellites in view. This method includes two steps: firstly, approximate longitude and latitude are obtained through WiFi positioning method, and then final coordinates is worked out by combing three GPS observations and fixed geodetic height. This paper extends the study from using GPS to using BDS due to insufficient satellites. Also, the influence of satellite geometric distribution and priori geodetic height bias on positioning accuracy is discussed. An experiment is carried out and results showed that, observation equation coefficient matrix tends to be ill-conditioned and the positioning accuracy would be greatly decreased if satellites observed in view are too closed to each other. But the influence mentioned above could be weakened by using observations from different navigation satellite systems, such as BDS+GPS. In addition, the final positioning accuracy will decrease as the priori height bias increases, but bias within a reasonable range can still meet the needs of ordinary navigation and positioning.
引文
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[5] Tsakiri M,Kealy A,Stewart M.Urban Canyon Vehicle Navigation with Integrated GPS/GLONASS/DR Systems[J].Navigation-Journal of the Institute of Navigation,1999,46(3):161-174
[6] Li Y,Rizos C.Triple Integration of GPS,Locata and INS for Seamless Integrated Navigation in Urban Environments[C].China International Conference on Inertial Technology and Navigation,Nanjing,China,2010
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[8] Mok E,Retscher G,Xia Linyuan.Investigation of Seamless Indoor and Outdoor Positioning Integrating WiFi and GNSS[C].XXIII International FIG Congress,Munich,Germany,2006
[9] 马燕,袁蔚林,陈秀万,等.基于WiFi与GPS组合定位算法的无缝定位方法研究[J].地理与地理信息科学,2013,29(3):6-9
[10] 夏敬潮,叶世榕,刘炎炎,等.WiFi辅助下附有高程信息的GPS定位[J].武汉大学学报·信息科学版,2014,39(1):52-55
[11] 朱律,沈云中.WiFi室内距离交会定位位置的迭代解法[J].测绘地理信息,2017,42(4):58-60
[12] 薛卫星,邱卫宁,花向红,等.RSSI信号特征值对WiFi室内定位精度的影响分析[J].测绘地理信息,2016,41(4):23-26
[13] 魏子卿.2000中国大地坐标系及其与WGS84的比较[J].大地测量与地球动力学,2008,28(5):1-5
[14] 唐卫明,徐坤,金蕾,等.北斗/GPS组合伪距单点定位性能测试和分析[J].武汉大学学报·信息科学版,2015,40(4):529-533
[2] 滕云龙,师奕兵,郑植.GPS不完整星座定位方法研究[J].宇航学报,2011,32(1):93-97
[3] Phatak M,Chansarkar M,Kohli S.Position Fix from Three GPS Satellites and Altitude:A Direct Method[J].IEEE Transactions on Aerospace and Electronic Systems,1999,35(1):350-354
[4] Gao Zhouzheng,Zhang Hongping,Ge Maorong,et al.Tightly Coupled Integration of Multi-GNSS PPP and MEMS Inertial Measurement Unit Data[J].GPS Solutions,2017,21(2):377-391
[5] Tsakiri M,Kealy A,Stewart M.Urban Canyon Vehicle Navigation with Integrated GPS/GLONASS/DR Systems[J].Navigation-Journal of the Institute of Navigation,1999,46(3):161-174
[6] Li Y,Rizos C.Triple Integration of GPS,Locata and INS for Seamless Integrated Navigation in Urban Environments[C].China International Conference on Inertial Technology and Navigation,Nanjing,China,2010
[7] Son H C,Lee J G,Jee G I.Mobile Station Location Using Hybrid GPS and a Wireless Network[C].The 57th IEEE Semiannual Vehicular Technology Conference,Jeju,South Korea,2003
[8] Mok E,Retscher G,Xia Linyuan.Investigation of Seamless Indoor and Outdoor Positioning Integrating WiFi and GNSS[C].XXIII International FIG Congress,Munich,Germany,2006
[9] 马燕,袁蔚林,陈秀万,等.基于WiFi与GPS组合定位算法的无缝定位方法研究[J].地理与地理信息科学,2013,29(3):6-9
[10] 夏敬潮,叶世榕,刘炎炎,等.WiFi辅助下附有高程信息的GPS定位[J].武汉大学学报·信息科学版,2014,39(1):52-55
[11] 朱律,沈云中.WiFi室内距离交会定位位置的迭代解法[J].测绘地理信息,2017,42(4):58-60
[12] 薛卫星,邱卫宁,花向红,等.RSSI信号特征值对WiFi室内定位精度的影响分析[J].测绘地理信息,2016,41(4):23-26
[13] 魏子卿.2000中国大地坐标系及其与WGS84的比较[J].大地测量与地球动力学,2008,28(5):1-5
[14] 唐卫明,徐坤,金蕾,等.北斗/GPS组合伪距单点定位性能测试和分析[J].武汉大学学报·信息科学版,2015,40(4):529-533