多模GNSS融合精密定轨理论及其应用研究
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摘要
卫星导航系统对于维护国家利益、保障经济和军事安全,具有重大意义,随着空间导航资源竞争的白热化,世界各大国都在建设或发展卫星导航系统。继美国和俄罗斯之后,欧盟和中国也都在积极建设各自的全球卫星导航系统。目前,四大全球卫星导航系统(GPS/GLONASS/COMPASS/Galileo)并存与发展的局面已初步形成,并将组成新一代的全球卫星导航系统(GNSS, Global Navigation Satellite System)。多卫星导航系统(简称：多模GNSS, Multi-GNSS)的共存、兼容与互操作,己成为卫星导航领域研究的热点问题。
导航卫星轨道是接收终端导航定位的基础,提供统一时空基准下的卫星轨道是实现多模GNSS兼容与互操作的核心关键问题。随着多模GNSS连续运行跟踪站数量与观测数据质量不断提升,多模GNSS融合精密定轨技术已成为GNSS精密定轨技术发展的重要方向,国际IGS组织于2008年将"True GNSS solution"正式列为其当前三大主要发展计划之一。因此为拓展多模GNSS高精度融合应用,开展多模GNSS融合精密定轨理论、技术和方法的研究十分必要,既符合国际发展趋势,又具有重要的现实需求。
本文以多模GNSS融合精密定轨为目标,系统研究了多模GNSS精密数据处理理论、模型、方法和关键技术,并以卫星导航综合处理软件(PANDA, Position And Navigation Data Analysist)为基础平台,自主设计并研制了多模GNSS融合精密定轨软件系统,实现了基于原始观测数据的多模GNSS融合精密定轨,从卫星轨道处理业务层面解决了多系统兼容与互操作的主要关键问题。在此基础上,通过GPS/GLONASS/Galileo实测数据融合定轨试验和COMPASS仿真定轨试验验证了多模GNSS融合精密定轨理论、方法和软件系统,并将统一时空基准下的导航卫星融合轨道成功应用于多模GNSS融合精密单点定位。主要研究工作及贡献如下：
1、分析总结了全球导航卫星系统建设、导航卫星精密定轨、多模GNSS数据融合的国内外研究现状。从导航卫星精密定轨技术发展趋势和应用需求两个层面论证了多模GNSS融合定轨理论方法研究和软件研制的必要性。
2、系统研究了导航卫星精密定轨基础理论,包括精密定轨中的坐标系统与时间系统,卫星的运动方程与数值积分,观测方程与误差改正模型及导航卫星精密定轨算法流程。
3、针对GPS/GLONASS/COMPASS/Galileo四大导航系统不同建设现状,总结并提出三种导航卫星融合精密定轨方法：“两步法”融合精密定轨,该方法可应用于导航系统建设初期星座不完整情况下的单星精密定轨；“一步法”融合精密定轨,该方法能实现严格意义上的多模观测值统一平差和地球物理参数的联合求解；中低轨融合精密定轨,该方法能在跟踪站分布不均匀的情况下,增强GNSS卫星框架的强度。并从多模GNSS融合精密定轨与钟差确定的实际处理过程出发,研究了多模GNSS时空参考框架转换、多模GNSS数据预处理、多模GNSS系统间时间偏量解算方法及快速状态估计方法等关键技术问题。
4、结合本文研究的多模GNSS融合精密定轨理论与方法,在PANDA软件平台基础上,自主设计并研制了多模GNSS融合精密定轨软件系统,主要研究内容包括：软件总体框架、功能模块、算法流程等。
5、基于自主研制的多模GNSS融合精密定轨软件系统开展了GPS/GLONASS/ Galileo实测数据融合定轨试验和COMPASS仿真定轨试验。
(?)采用“两步法”融合精密定轨方法实现了Galileo在轨验证卫星(GIOVE-A, GIOVE-B)的精密轨道确定,并利用重叠弧段比较和SLR数据检核等多种手段对轨道进行精度评定。结果显示：利用“两步法”融合精密定轨方法能实现GIOVE卫星径向10cm的定轨精度。并从信噪比、伪距多路径误差、观测值验后残差等多方面详细分析了GIOVE-A卫星信号质量。
(?)利用“一步法”融合精密定轨方法实现了IGS05框架下GPS卫星和GLONASS全星座精密轨道确定,并与欧洲定轨中心CODE发布的精密轨道进行了比较,统计表明GPS和GLONASS卫星星座三维平均轨道精度分别达到2cm和6cm。
(?)仅采用中国区域7个地面跟踪站和1颗低轨卫星,基于中低轨融合精密定轨方法仿真实现了COMPASS导航卫星系统高精度融合轨道确定。试验分析表明,利用地面基准站与低轨卫星星载数据联合求解,有利于提高GNSS卫星轨道确定的精度,增强GNSS卫星跟踪几何强度,特别是基准站在全球分布受限的情况下。
(?)针对COMPASS系统建设初步阶段、过渡时期、系统建设完成三个不同时期的星座特点,分别设计了区域COMPASS融合精密定轨方法、单星COMPASS融合精密定轨方法、全星座COMPASS融合精密定轨方法。
6、基于本文提出的多模GNSS融合数据处理方法和软件系统,开展了GPS/GLONASS高精度、高采样率(50Hz)多模GNSS静态和动态精密单点定位应用研究,实现了多模GNSS高精度、高水平融合与互操作应用。
(?)静态精密单点定位试验表明,多模GNSS融合精密单点定位重复精度达到水平1-2mm,高程2-3mm,可应用于高精度形变监测与分析。
(?)事后动态精密单点定位试验表明,多模GNSS融合动态定位平面方向精度达到1cm,高程精度达到2cm。多模观测数据融合对动态定位各方向精度均有一定的提高,尤其是东方向和垂直方向提高幅度能达到10%-20%,并能部分消除与测站环境相关等未模型化的误差,避免因卫星失锁或遮挡造成的重新初始化。
(?)对我国东北部13个“陆态网络”工程基准站的静态和动态精密单点定位分析发现,日本2011年03月11日发生的Mw9级地震造成我国东北部部分基准站产生较为明显的形变,并可能导致永久位移。融合定位或GPS、GLONASS单星座观测值定位均可清晰反映各基准站形变量,地震面波传播的方向和到达各基准站的时刻。
(?)利用配置多模GNSS接收机的高精度校验平台验证了高采样率(50Hz)多模GNSS动态定位精度。实验结果表明,采用GNSS融合数据处理技术能获得准确的运行轨迹,多模观测数据融合处理能更精确反映真实运行状态。
With hot competition of spatial navigation resource, satellite navigation system has been established worldwide, which is of great significance to protect national benefits, economy and military security. After successful establishment of the United States and Russia, the European Union is actively developing their own global satellite navigation system together with our country. To date, coexistence and development of four kinds of global satellite navigation system (that is GPS/GLONASS/COMPASS/Galileo) have initially taken shape, which would form the new generation global satellite navigation system named GNSS. In order to realize compatibility and interoperability of various navigation systems, multimode receivers became the inevitable choice for satellite navigation positioning from GPS to GNSS, so as to promote the development among a new research focus on data fusion of multi-navigation systems.
Navigation satellite constellation functions as a dynamical datum for navigation positioning terminal, of which the key is to provide navigation satellite orbit and clock error products with unified temporal and spatial datum so as to solve problems of compatibility and interoperability of various navigation systems, together with Multi-GNSS data fusion. Recently, technology of Multi-GNSS integrated precise orbit determination (POD) has become an important research direction in the GNSS POD, which listed formally as one of the three main development programs by international IGS organization in 2008.
To sum up, aiming at the natural trend of the coexistence and compatible interoperability of multi-satellite navigation systems(GPS/GLONASS/COMPASS/Galileo), implementation of research on the integrated POD theory, technology and method based on Multi-GNSS is a necessity, which is not only accordance with international development trend, but also has strong current demand.
Taking the aim to solve problems of multi-mode GNSS integrated POD and satellite clock error determination; this dissertation paper discussed its mathematical model, key technology and algorithm realization in detail. Then based on the platform of Position And Navigation Data Analysist (PANDA), Multi-GNSS integrated POD system has been independently developed, realizing precise orbit determination for multi-satellite navigation systems based on original observation data and solving problems of multi-GNSS interoperability from aspect of satellite orbit processing. Finally experiments of integrated orbit determination using real data from GPS/GLONASS/GALILEO and simulated COMPASS orbit determination have been tested in order to verify the effectiveness of the method and the software. Main contents and contributions of this dissertation include:
1、Summarizing current status and development trend of GNSS establishment, POD for navigation satellites, as well as multi-mode GNSS data fusion at home and abroad, then demonstrating the necessity to implement precise orbit and error determination of multi-mode navigation satellite systems under unified temporal and spatial datum.
2、Systematically investigating the basic theory of POD for navigation satellites, including coordinate systems and time systems, motion equation and its numerical integration, observation equation and error correction model, together with its algorithm flow of POD for navigation satellites.
3、Proposing three kinds of integrated POD methods for navigation satellites according to different current status of four navigation systems (GPS/GLONASS/ COMPASS/Galileo):"Two-step" integrated POD, "One-step" integrated POD, as well as MEO-LEO combined POD. Then from practical implementation of multi-mode GNSS integrated POD and clock error determination, key technologies of temporal and spatial reference frame transformation of multi-mode GNSS and its data preprocessing, together with time deviation resolution between multi-mode GNSS systems have been discussed elaborately.
4、Developing Multi-GNSS integrated POD software system based on PANDA platform, illustrating its dynamical model, observation model overall framework, as well as data processing flow, software interface and its characteristics.
5、Implementing experiments of integrated orbit determination using real data from GPS/GLONASS/GALILEO and simulated COMPASS orbit determination based on self-developed Multi-GNSS integrated POD software:
(?) Realizeing precise orbit determination for Galileo experimental satellites (GIOVE-A, GIOVE-B) with "Two-step" and "One-step" integrated POD method respectively. Different strategies have been used to carry out accuracy evaluation including overlap arc tests and SLR verification. Statistics show that, both methods of "Two-step" and "One-step" could achieve radial orbit precision of 10cm for GIOVE satellites. Besides, signal quality of GIOVE-A satellite has been analyzed in detail from aspects of signal-to-noise ratio, multi-path error of pseudo-range, as well as post-fit error of observables.
(?) Accomplishing precise orbit determination of GPS and GLONASS satellites under IGS05 frame using "One-step" integrated POD method, which has been compared with European CODE's orbit products. Results show that the average 3-D orbit precision of GPS and GLONASS satellites could reach 2cm and 6cm respectively.
(?) Simulating and achieving precise orbit determination for COMPASS navigation satellite system based on MEO-LEO combined POD method using data from 7 tracking stations inside China and GRACE-A satellite data. Results show that combination of ground reference stations and LEOs could improve GNSS orbit determination precision and strengthen GNSS satellite framework, especially when there is limitation in global distribution of reference stations.
(?) According to the COMPASS system's three different period:the initial phase, the transition period, the constellation completion period, designed three integrated POD strategies:regional integrated POD method, single-satellite POD method, full ntegrated POD method.
6、Realizing static precise point positioning and kinematic positioning of Multi-GNSS with high-precision and high-sampling rate(50Hz) using actual multi-mode observables:
(?) Static precise point positioning experiment shows that adding GLONASS data has no significant impact on positioning precision, with the horizontal repeatable accuracy of Multi-GNSS integrated precise point positioning reaching 1～2mm, while 2-3mm for vertical components, which could be applied in high-precision deformation monitoring and analysis.
(?) Post kinematic precise point positioning experiment shows that multi-mode observation data could improve positioning precision in different directions to some extent, especially with 20% improvement in East and Up components, and could partially eliminate unmodelled error relating to stations'surroudings.
(?) Both static and kinematic precise point positioning of 13 reference stations belonging to the "Crustal Movement Observation Network of China" located in northeast China show that the Mw9 earthquake of Japan happened on Mar.11,2011 caused obvious deformation in some reference stations located in northeast China, which would result in permanent displacement. Either data processing of combined or single type constellation could reflect deformation displacement of various reference stations, propagation direction of the earthquake, as well as its arriving epoch at various reference stations.
(?) Precision of Multi-GNSS kinematic positioning with high-rate (50Hz) has been tested based on high-accuracy verification platform allocated with multi-mode GNSS receivers. Experimental results show that technology of GNSS integrated data processing could obtain correct trajectory of satellites, from which would reflect its true operating status more accurately.
导航卫星轨道是接收终端导航定位的基础,提供统一时空基准下的卫星轨道是实现多模GNSS兼容与互操作的核心关键问题。随着多模GNSS连续运行跟踪站数量与观测数据质量不断提升,多模GNSS融合精密定轨技术已成为GNSS精密定轨技术发展的重要方向,国际IGS组织于2008年将"True GNSS solution"正式列为其当前三大主要发展计划之一。因此为拓展多模GNSS高精度融合应用,开展多模GNSS融合精密定轨理论、技术和方法的研究十分必要,既符合国际发展趋势,又具有重要的现实需求。
本文以多模GNSS融合精密定轨为目标,系统研究了多模GNSS精密数据处理理论、模型、方法和关键技术,并以卫星导航综合处理软件(PANDA, Position And Navigation Data Analysist)为基础平台,自主设计并研制了多模GNSS融合精密定轨软件系统,实现了基于原始观测数据的多模GNSS融合精密定轨,从卫星轨道处理业务层面解决了多系统兼容与互操作的主要关键问题。在此基础上,通过GPS/GLONASS/Galileo实测数据融合定轨试验和COMPASS仿真定轨试验验证了多模GNSS融合精密定轨理论、方法和软件系统,并将统一时空基准下的导航卫星融合轨道成功应用于多模GNSS融合精密单点定位。主要研究工作及贡献如下：
1、分析总结了全球导航卫星系统建设、导航卫星精密定轨、多模GNSS数据融合的国内外研究现状。从导航卫星精密定轨技术发展趋势和应用需求两个层面论证了多模GNSS融合定轨理论方法研究和软件研制的必要性。
2、系统研究了导航卫星精密定轨基础理论,包括精密定轨中的坐标系统与时间系统,卫星的运动方程与数值积分,观测方程与误差改正模型及导航卫星精密定轨算法流程。
3、针对GPS/GLONASS/COMPASS/Galileo四大导航系统不同建设现状,总结并提出三种导航卫星融合精密定轨方法：“两步法”融合精密定轨,该方法可应用于导航系统建设初期星座不完整情况下的单星精密定轨；“一步法”融合精密定轨,该方法能实现严格意义上的多模观测值统一平差和地球物理参数的联合求解；中低轨融合精密定轨,该方法能在跟踪站分布不均匀的情况下,增强GNSS卫星框架的强度。并从多模GNSS融合精密定轨与钟差确定的实际处理过程出发,研究了多模GNSS时空参考框架转换、多模GNSS数据预处理、多模GNSS系统间时间偏量解算方法及快速状态估计方法等关键技术问题。
4、结合本文研究的多模GNSS融合精密定轨理论与方法,在PANDA软件平台基础上,自主设计并研制了多模GNSS融合精密定轨软件系统,主要研究内容包括：软件总体框架、功能模块、算法流程等。
5、基于自主研制的多模GNSS融合精密定轨软件系统开展了GPS/GLONASS/ Galileo实测数据融合定轨试验和COMPASS仿真定轨试验。
(?)采用“两步法”融合精密定轨方法实现了Galileo在轨验证卫星(GIOVE-A, GIOVE-B)的精密轨道确定,并利用重叠弧段比较和SLR数据检核等多种手段对轨道进行精度评定。结果显示：利用“两步法”融合精密定轨方法能实现GIOVE卫星径向10cm的定轨精度。并从信噪比、伪距多路径误差、观测值验后残差等多方面详细分析了GIOVE-A卫星信号质量。
(?)利用“一步法”融合精密定轨方法实现了IGS05框架下GPS卫星和GLONASS全星座精密轨道确定,并与欧洲定轨中心CODE发布的精密轨道进行了比较,统计表明GPS和GLONASS卫星星座三维平均轨道精度分别达到2cm和6cm。
(?)仅采用中国区域7个地面跟踪站和1颗低轨卫星,基于中低轨融合精密定轨方法仿真实现了COMPASS导航卫星系统高精度融合轨道确定。试验分析表明,利用地面基准站与低轨卫星星载数据联合求解,有利于提高GNSS卫星轨道确定的精度,增强GNSS卫星跟踪几何强度,特别是基准站在全球分布受限的情况下。
(?)针对COMPASS系统建设初步阶段、过渡时期、系统建设完成三个不同时期的星座特点,分别设计了区域COMPASS融合精密定轨方法、单星COMPASS融合精密定轨方法、全星座COMPASS融合精密定轨方法。
6、基于本文提出的多模GNSS融合数据处理方法和软件系统,开展了GPS/GLONASS高精度、高采样率(50Hz)多模GNSS静态和动态精密单点定位应用研究,实现了多模GNSS高精度、高水平融合与互操作应用。
(?)静态精密单点定位试验表明,多模GNSS融合精密单点定位重复精度达到水平1-2mm,高程2-3mm,可应用于高精度形变监测与分析。
(?)事后动态精密单点定位试验表明,多模GNSS融合动态定位平面方向精度达到1cm,高程精度达到2cm。多模观测数据融合对动态定位各方向精度均有一定的提高,尤其是东方向和垂直方向提高幅度能达到10%-20%,并能部分消除与测站环境相关等未模型化的误差,避免因卫星失锁或遮挡造成的重新初始化。
(?)对我国东北部13个“陆态网络”工程基准站的静态和动态精密单点定位分析发现,日本2011年03月11日发生的Mw9级地震造成我国东北部部分基准站产生较为明显的形变,并可能导致永久位移。融合定位或GPS、GLONASS单星座观测值定位均可清晰反映各基准站形变量,地震面波传播的方向和到达各基准站的时刻。
(?)利用配置多模GNSS接收机的高精度校验平台验证了高采样率(50Hz)多模GNSS动态定位精度。实验结果表明,采用GNSS融合数据处理技术能获得准确的运行轨迹,多模观测数据融合处理能更精确反映真实运行状态。
With hot competition of spatial navigation resource, satellite navigation system has been established worldwide, which is of great significance to protect national benefits, economy and military security. After successful establishment of the United States and Russia, the European Union is actively developing their own global satellite navigation system together with our country. To date, coexistence and development of four kinds of global satellite navigation system (that is GPS/GLONASS/COMPASS/Galileo) have initially taken shape, which would form the new generation global satellite navigation system named GNSS. In order to realize compatibility and interoperability of various navigation systems, multimode receivers became the inevitable choice for satellite navigation positioning from GPS to GNSS, so as to promote the development among a new research focus on data fusion of multi-navigation systems.
Navigation satellite constellation functions as a dynamical datum for navigation positioning terminal, of which the key is to provide navigation satellite orbit and clock error products with unified temporal and spatial datum so as to solve problems of compatibility and interoperability of various navigation systems, together with Multi-GNSS data fusion. Recently, technology of Multi-GNSS integrated precise orbit determination (POD) has become an important research direction in the GNSS POD, which listed formally as one of the three main development programs by international IGS organization in 2008.
To sum up, aiming at the natural trend of the coexistence and compatible interoperability of multi-satellite navigation systems(GPS/GLONASS/COMPASS/Galileo), implementation of research on the integrated POD theory, technology and method based on Multi-GNSS is a necessity, which is not only accordance with international development trend, but also has strong current demand.
Taking the aim to solve problems of multi-mode GNSS integrated POD and satellite clock error determination; this dissertation paper discussed its mathematical model, key technology and algorithm realization in detail. Then based on the platform of Position And Navigation Data Analysist (PANDA), Multi-GNSS integrated POD system has been independently developed, realizing precise orbit determination for multi-satellite navigation systems based on original observation data and solving problems of multi-GNSS interoperability from aspect of satellite orbit processing. Finally experiments of integrated orbit determination using real data from GPS/GLONASS/GALILEO and simulated COMPASS orbit determination have been tested in order to verify the effectiveness of the method and the software. Main contents and contributions of this dissertation include:
1、Summarizing current status and development trend of GNSS establishment, POD for navigation satellites, as well as multi-mode GNSS data fusion at home and abroad, then demonstrating the necessity to implement precise orbit and error determination of multi-mode navigation satellite systems under unified temporal and spatial datum.
2、Systematically investigating the basic theory of POD for navigation satellites, including coordinate systems and time systems, motion equation and its numerical integration, observation equation and error correction model, together with its algorithm flow of POD for navigation satellites.
3、Proposing three kinds of integrated POD methods for navigation satellites according to different current status of four navigation systems (GPS/GLONASS/ COMPASS/Galileo):"Two-step" integrated POD, "One-step" integrated POD, as well as MEO-LEO combined POD. Then from practical implementation of multi-mode GNSS integrated POD and clock error determination, key technologies of temporal and spatial reference frame transformation of multi-mode GNSS and its data preprocessing, together with time deviation resolution between multi-mode GNSS systems have been discussed elaborately.
4、Developing Multi-GNSS integrated POD software system based on PANDA platform, illustrating its dynamical model, observation model overall framework, as well as data processing flow, software interface and its characteristics.
5、Implementing experiments of integrated orbit determination using real data from GPS/GLONASS/GALILEO and simulated COMPASS orbit determination based on self-developed Multi-GNSS integrated POD software:
(?) Realizeing precise orbit determination for Galileo experimental satellites (GIOVE-A, GIOVE-B) with "Two-step" and "One-step" integrated POD method respectively. Different strategies have been used to carry out accuracy evaluation including overlap arc tests and SLR verification. Statistics show that, both methods of "Two-step" and "One-step" could achieve radial orbit precision of 10cm for GIOVE satellites. Besides, signal quality of GIOVE-A satellite has been analyzed in detail from aspects of signal-to-noise ratio, multi-path error of pseudo-range, as well as post-fit error of observables.
(?) Accomplishing precise orbit determination of GPS and GLONASS satellites under IGS05 frame using "One-step" integrated POD method, which has been compared with European CODE's orbit products. Results show that the average 3-D orbit precision of GPS and GLONASS satellites could reach 2cm and 6cm respectively.
(?) Simulating and achieving precise orbit determination for COMPASS navigation satellite system based on MEO-LEO combined POD method using data from 7 tracking stations inside China and GRACE-A satellite data. Results show that combination of ground reference stations and LEOs could improve GNSS orbit determination precision and strengthen GNSS satellite framework, especially when there is limitation in global distribution of reference stations.
(?) According to the COMPASS system's three different period:the initial phase, the transition period, the constellation completion period, designed three integrated POD strategies:regional integrated POD method, single-satellite POD method, full ntegrated POD method.
6、Realizing static precise point positioning and kinematic positioning of Multi-GNSS with high-precision and high-sampling rate(50Hz) using actual multi-mode observables:
(?) Static precise point positioning experiment shows that adding GLONASS data has no significant impact on positioning precision, with the horizontal repeatable accuracy of Multi-GNSS integrated precise point positioning reaching 1～2mm, while 2-3mm for vertical components, which could be applied in high-precision deformation monitoring and analysis.
(?) Post kinematic precise point positioning experiment shows that multi-mode observation data could improve positioning precision in different directions to some extent, especially with 20% improvement in East and Up components, and could partially eliminate unmodelled error relating to stations'surroudings.
(?) Both static and kinematic precise point positioning of 13 reference stations belonging to the "Crustal Movement Observation Network of China" located in northeast China show that the Mw9 earthquake of Japan happened on Mar.11,2011 caused obvious deformation in some reference stations located in northeast China, which would result in permanent displacement. Either data processing of combined or single type constellation could reflect deformation displacement of various reference stations, propagation direction of the earthquake, as well as its arriving epoch at various reference stations.
(?) Precision of Multi-GNSS kinematic positioning with high-rate (50Hz) has been tested based on high-accuracy verification platform allocated with multi-mode GNSS receivers. Experimental results show that technology of GNSS integrated data processing could obtain correct trajectory of satellites, from which would reflect its true operating status more accurately.
引文
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