非差增强信息与差分虚拟观测数据的等价变换理论
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摘要
针对目前非差精密单点定位增强信息无法直接用于RTK(real time kinematic)相对定位的问题,研究了基于附加坐标约束的参考站非差精密单点模糊度固定解提取非差改正信息的方法,并建立了非差增强信息与虚拟参考站观测信息等价变换模型,重点论述了空间状态域信息(state space representation,SSR)在等价变换中的区别应用。根据RTK模糊度部分固定技术,利用实测数据设计实验证明了算法的正确性与可用性。结果表明,虚拟零基线可获得与网络RTK同等精度的定位效果,从而实现了区域增强系统在非差与差分模式上的高度统一。
According to the issue that zero-difference precise point positioning(PPP) augmentation information cannot be directly applied to real-time kinematic(RTK) relative positioning, this paper studies the method of obtaining the zero-difference correction information with PPP ambiguity resolution based on additional coordinate constraint in the reference station, establishes the model of equivalence transformation from zero-difference augmentation information to virtual observation data, and focuses on difference application of state space representation information in equivalence transformation. Experiment designed with real GNSS observation data proves correctness and availability of algorithm according to RTK ambiguity with partial ambiguity fixing technology. The results show that virtual zero-baseline can deliver a good accuracy positioning as same as the network RTK, thereby enabling high unification of regional augmentation system in terms of zone-difference and difference modes.
According to the issue that zero-difference precise point positioning(PPP) augmentation information cannot be directly applied to real-time kinematic(RTK) relative positioning, this paper studies the method of obtaining the zero-difference correction information with PPP ambiguity resolution based on additional coordinate constraint in the reference station, establishes the model of equivalence transformation from zero-difference augmentation information to virtual observation data, and focuses on difference application of state space representation information in equivalence transformation. Experiment designed with real GNSS observation data proves correctness and availability of algorithm according to RTK ambiguity with partial ambiguity fixing technology. The results show that virtual zero-baseline can deliver a good accuracy positioning as same as the network RTK, thereby enabling high unification of regional augmentation system in terms of zone-difference and difference modes.
引文
[1] Ye ShiRong. Theory and Implementation of GPS Undifferenced Phase Precise Point Positioning [D].Wuhan: Wuhan University, 2002 (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)
[2] Zhang Xiaohong, Li Xingxing, Guo Fei, et al. Server-based Real-time Precise Point Positioning and Its Application [J]. Chinese Journal Geophysics,2010, 53(6): 1 308-1 314 (张小红,李星星,郭斐,等. 基于服务系统的实时精密单点定位技术及应用研究[J]. 地球物理学报,2010, 53(6):1 308-1 314)
[3] Banville S, Langley R. Improving Real-Time Kinematic PPP with Instantaneous Cycle-Slip Correction [C]. Proceedings of ION GNSS 2009,GA,USA,2009
[4] Caissy M. The IGS Real-Time Pilot Project-Perspective on Data and Product Generation [C]. Streaming GNSS Data via Internet Symposium, Frankfurt,Germany,2006
[5] Chen K, Gao Y. Real-Time Precise Point Positioning Using Single Frequency Data [C]. Proceedings of ION GNSS-2005, Long Beach, CA,2005
[6] Liu Jingnan,Ye Shirong. GPS Precise Point Positioning Using Undifferenced Phase Observation[J]. Geomatics and Information Science of Wuhan University,2002,27(3):234-240(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)
[7] Muellerschoen R J, Bar-Sever Y E, Bertiger W I, et al. NASA’s Global DGPS for High Precision Users [J]. GPS World, 2001,12(1):14-20
[8] Hatch R.Satellite Navigation Accuracy: Past, Present and Future [C]. Proceeding of the 8th GNSS Workshop, Korea,2001
[9] Hatch R. The Promise of a Third Frequency [J]. GPS World,1996, 7(5):55-58;
[10] Zhang Xiaohong, Li Xingxing. A New Method for Zero-Differenced Interger Ambiguity Resolution and Its Application to PPP[J]. Geomatics and Informations Science of Wuhan University, 2010,35(6):657-660 (张小红,李星星. 非差模糊度整数固定解PPP新方法及实验[J]. 武汉大学学报·信息科学版,2010,35(6):657-660)
[11] Dai L, Wang J, Rizos C.Predicting Atmospheric Biases for Real-Time Ambiguity Resolution in GPS/GLONASS Reference Station Networks [J]. J Geod, 2005, 76(11-12): 617-628
[12] Gabor M J, Nerem R S. GPS Carrier Phase AR Using Satellite-Satellite Single Difference [C]. Proceedings of 12th Int Tech Meet Satellite Div Inst Navigation GPS , Nashville,TN,USA,1999
[13] Zhang Baochen, Ou Jikun, Yuan Yunbin, et al. Precise Point Positioning (PPP) Algorithm Based on GPS Dual-frequency Raw Observations and Its Application[J]. Acta Geodaetica et Cartographica Sinica, 2010,39(5):478-482(张宝成,欧吉坤,袁运斌,等. 基于GPS双频原始观测值的精密单点定位算法及应用[J]. 测绘学报,2010,39(5):478-482)
[14] Li Xingxing,Xu Yun,Wang Lei. Undifferenced Precise Satellite Clock Error Estimation and Precision Analysis[J].Geomatics and Informations Science of Wuhan University, 2010, 35(6): 661-664(李星星,徐运,王磊. 非差导航卫星实时/事后精密钟差估计[J]. 武汉大学学报·信息科学版,2010,35(6):661-664)
[15] Li Xingxing, Zhang Xiaohong, Li Pan. PPP for Rapid Precise Positioning and Orbit Determination with Zero-Difference Integer Ambiguity Fixing[J]. Chinese Journal of Geophysics,2012,55(3):833-840(李星星,张小红,李盼. 固定非差整数模糊度的PPP快速精密定位定轨[J]. 地球物理学报,2012,55(3):833-840)
[16] Collins P. Isolating and Estimating Undifferenced GPS Integer Ambiguities[C]. Proceedings of ION National Technical Meeting,California,USA, 2008
[17] Laurichesse D, Mercier F, Berthias J P, et al. Integer Ambiguity Resolution on Undifferenced GPS Phase Measurements and Its Application to PPP and Satellite Precise Orbit Determination[J]. Navigation,2009,56(2):135-149
[18] Teunissen P J G. The Geometry-free GPS Ambiguity Search Space with a Weighted Ionosphere [J]. J Geod, 1997, 71(6):370-383
[2] Zhang Xiaohong, Li Xingxing, Guo Fei, et al. Server-based Real-time Precise Point Positioning and Its Application [J]. Chinese Journal Geophysics,2010, 53(6): 1 308-1 314 (张小红,李星星,郭斐,等. 基于服务系统的实时精密单点定位技术及应用研究[J]. 地球物理学报,2010, 53(6):1 308-1 314)
[3] Banville S, Langley R. Improving Real-Time Kinematic PPP with Instantaneous Cycle-Slip Correction [C]. Proceedings of ION GNSS 2009,GA,USA,2009
[4] Caissy M. The IGS Real-Time Pilot Project-Perspective on Data and Product Generation [C]. Streaming GNSS Data via Internet Symposium, Frankfurt,Germany,2006
[5] Chen K, Gao Y. Real-Time Precise Point Positioning Using Single Frequency Data [C]. Proceedings of ION GNSS-2005, Long Beach, CA,2005
[6] Liu Jingnan,Ye Shirong. GPS Precise Point Positioning Using Undifferenced Phase Observation[J]. Geomatics and Information Science of Wuhan University,2002,27(3):234-240(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)
[7] Muellerschoen R J, Bar-Sever Y E, Bertiger W I, et al. NASA’s Global DGPS for High Precision Users [J]. GPS World, 2001,12(1):14-20
[8] Hatch R.Satellite Navigation Accuracy: Past, Present and Future [C]. Proceeding of the 8th GNSS Workshop, Korea,2001
[9] Hatch R. The Promise of a Third Frequency [J]. GPS World,1996, 7(5):55-58;
[10] Zhang Xiaohong, Li Xingxing. A New Method for Zero-Differenced Interger Ambiguity Resolution and Its Application to PPP[J]. Geomatics and Informations Science of Wuhan University, 2010,35(6):657-660 (张小红,李星星. 非差模糊度整数固定解PPP新方法及实验[J]. 武汉大学学报·信息科学版,2010,35(6):657-660)
[11] Dai L, Wang J, Rizos C.Predicting Atmospheric Biases for Real-Time Ambiguity Resolution in GPS/GLONASS Reference Station Networks [J]. J Geod, 2005, 76(11-12): 617-628
[12] Gabor M J, Nerem R S. GPS Carrier Phase AR Using Satellite-Satellite Single Difference [C]. Proceedings of 12th Int Tech Meet Satellite Div Inst Navigation GPS , Nashville,TN,USA,1999
[13] Zhang Baochen, Ou Jikun, Yuan Yunbin, et al. Precise Point Positioning (PPP) Algorithm Based on GPS Dual-frequency Raw Observations and Its Application[J]. Acta Geodaetica et Cartographica Sinica, 2010,39(5):478-482(张宝成,欧吉坤,袁运斌,等. 基于GPS双频原始观测值的精密单点定位算法及应用[J]. 测绘学报,2010,39(5):478-482)
[14] Li Xingxing,Xu Yun,Wang Lei. Undifferenced Precise Satellite Clock Error Estimation and Precision Analysis[J].Geomatics and Informations Science of Wuhan University, 2010, 35(6): 661-664(李星星,徐运,王磊. 非差导航卫星实时/事后精密钟差估计[J]. 武汉大学学报·信息科学版,2010,35(6):661-664)
[15] Li Xingxing, Zhang Xiaohong, Li Pan. PPP for Rapid Precise Positioning and Orbit Determination with Zero-Difference Integer Ambiguity Fixing[J]. Chinese Journal of Geophysics,2012,55(3):833-840(李星星,张小红,李盼. 固定非差整数模糊度的PPP快速精密定位定轨[J]. 地球物理学报,2012,55(3):833-840)
[16] Collins P. Isolating and Estimating Undifferenced GPS Integer Ambiguities[C]. Proceedings of ION National Technical Meeting,California,USA, 2008
[17] Laurichesse D, Mercier F, Berthias J P, et al. Integer Ambiguity Resolution on Undifferenced GPS Phase Measurements and Its Application to PPP and Satellite Precise Orbit Determination[J]. Navigation,2009,56(2):135-149
[18] Teunissen P J G. The Geometry-free GPS Ambiguity Search Space with a Weighted Ionosphere [J]. J Geod, 1997, 71(6):370-383