GPS载波相位定位技术的研究
摘要
全球定位系统(GPS)是一个实时、全天候和全球性的星基导航定位系统,它的建立从根本上解决了人类在地球上的导航和定位问题,GPS卫星定位日益广泛地运用于测绘、导航、天文、通讯,并且更深入地普及到了经济和国防建设及人们的日常生活之中,展现了良好应用前景。
GPS载波相位定位技术是为提高定位精度而产生和发展起来的,在此基础上逐步完善了差分GPS技术(DGPS),这些技术在很大程度上提高了GPS定位精度,拓展了GPS应用范围。本文所做的工作就是对载波相位定位和差分技术进行了系统的探讨。文章首先介绍了全球定位系统GPS的组成及功能,分析各种误差对定位的影响,讨论了基本的观测模型以及绝对定位的原理,对两种基本观测量的绝对定位进行了仿真,分析了结果;阐述了载波相位差分系统的数学模型和工作原理,并用仿真确定了其定位性能;介绍了整周模糊度求解的基本思想,分析了静态和动态各种模糊度求解方法,重点对最小二乘降相关平差法(LAMBDA)方法进行讨论,给出了算法实现流程,并进行了实验仿真。
Global position system (GPS) is a real time, all climate, global navigation and positioning system base on satellites. It has a lot of applications in many fields in mapping, navigation, communication, economy and national defence and so on.
The GPS position based on carrier phase measurement is produced and developed for the exaltation of positioning accuracy. Differential relative positioning of GPS (DGPS) is gradually perfected. On the basic of above, this, to a great extent, enhanced the precision of GPS positioning and widened the application range of GPS. In this paper, we systematically discuss the theory and method of the technique of carrier phase and differential GPS.
Firstly, this paper introduced the components and features of GPS, the form of satellite signal and how to compute the position of satellite. We discussed the basic observation mathematic model of GPS. Two basic observation functions are introduced in detail. We analyzed infections of various errors, and simulated the single positioning through the two basic observation values; then we discussed the working principle and the mathematic model of differential positioning technology with GPS carrier phase in real time, and gived three models of linear combination of carrier phase, and simulate its performance. Integer ambiguity resolution is described mainly at last. We analyzed the diversified methods of ambiguity resolution under the dynamic and the static condition respectively. The LAMBDA (Least-squares AMBiguity Decorrelation Adjustment) was emphasized, and the resolving step and flow chart of this method were offered. We could clearly see that it improves precise and real time of positioning by simulating and analyzing the results of the float and the fixed solutions. It is meaningful to deal with the real time, dynamic and precise positioning.
GPS载波相位定位技术是为提高定位精度而产生和发展起来的,在此基础上逐步完善了差分GPS技术(DGPS),这些技术在很大程度上提高了GPS定位精度,拓展了GPS应用范围。本文所做的工作就是对载波相位定位和差分技术进行了系统的探讨。文章首先介绍了全球定位系统GPS的组成及功能,分析各种误差对定位的影响,讨论了基本的观测模型以及绝对定位的原理,对两种基本观测量的绝对定位进行了仿真,分析了结果;阐述了载波相位差分系统的数学模型和工作原理,并用仿真确定了其定位性能;介绍了整周模糊度求解的基本思想,分析了静态和动态各种模糊度求解方法,重点对最小二乘降相关平差法(LAMBDA)方法进行讨论,给出了算法实现流程,并进行了实验仿真。
Global position system (GPS) is a real time, all climate, global navigation and positioning system base on satellites. It has a lot of applications in many fields in mapping, navigation, communication, economy and national defence and so on.
The GPS position based on carrier phase measurement is produced and developed for the exaltation of positioning accuracy. Differential relative positioning of GPS (DGPS) is gradually perfected. On the basic of above, this, to a great extent, enhanced the precision of GPS positioning and widened the application range of GPS. In this paper, we systematically discuss the theory and method of the technique of carrier phase and differential GPS.
Firstly, this paper introduced the components and features of GPS, the form of satellite signal and how to compute the position of satellite. We discussed the basic observation mathematic model of GPS. Two basic observation functions are introduced in detail. We analyzed infections of various errors, and simulated the single positioning through the two basic observation values; then we discussed the working principle and the mathematic model of differential positioning technology with GPS carrier phase in real time, and gived three models of linear combination of carrier phase, and simulate its performance. Integer ambiguity resolution is described mainly at last. We analyzed the diversified methods of ambiguity resolution under the dynamic and the static condition respectively. The LAMBDA (Least-squares AMBiguity Decorrelation Adjustment) was emphasized, and the resolving step and flow chart of this method were offered. We could clearly see that it improves precise and real time of positioning by simulating and analyzing the results of the float and the fixed solutions. It is meaningful to deal with the real time, dynamic and precise positioning.
引文
[1]王惠南. GPS导航原理与应用.北京:科学出版社, 2003: 58-65, 79-86, 95-120, 127-173.
[2]李征航,黄劲松. GPS测量与数据处理.武汉:武汉大学出版社, 2005: 33-34, 153-154, 182-194.
[3]Gurtner W. RINEX: The Receiver-Independent Exchange Format. GPS World. 1994, 5(7): 49-64.
[4]陈树新. GPS整周模糊度动态确定的算法及性能研究.西安:西北工业大学博士学位论文, 2002.7
[5]赵树杰,赵建勋.信号检测与估计理论.北京:清华大学出版社, 2004: 323-330.
[6]Hemandez-Pajares M, J M Juan, Sanz J. Precise Ionospheric Determination and its Application to Real-Time GPS Ambiguity Resolution. Proceedings of ION GPS-99. 1999: 1409-1417.
[7]Han S. Quality Control issues relating to instantaneous ambiguity resolution for real-time GPS kinematic position. Journal of Geodesy. 1997, 5, 71(6): 351-361.
[8]Yang Gao, James F. McLellan and John B. Schleppe. An Optimized GPS Carrier Phase Ambiguity Search Method Focusing on Speed and Reliability. IEEE AES Systems Magazine. 1996, 11(12): 22-26.
[9]朱志宇,刘维亭,张冰.差分GPS载波相位整周模糊度快速解算方法.测绘科学. 2005, 6, 30(3): 54-57.
[10]喻国荣.论测量平差中的权和权阵.测绘通报. 2007, 7: 39-40
[11]刘基余. GPS卫星导航定位原理与方法.北京:科学出版社, 2003.
[12]陈小明,刘基余,李德仁. OTF方法及其在GPS辅助航空摄影测量数据处理中的应用.测绘学报. 1997, 5, 26(2): 101-108.
[13]高成发,赵毅,万德均. GPS载波定位中双差观测值权的合理确定.测绘科学. 2005, 6, 30(3): 28-32.
[14]郭兴华. GPS动态实时定位技术研究.哈尔滨:哈尔滨工程大学硕士学位论文, 2007.
[15]王仁谦. GPS动态定位的理论研究.长沙:中南大学博士学位论文, 2004.
[16]李淑惠,刘经南.整周模糊度解算的效性比较和分析.测绘通报. 2003, 10: 1-3.
[17]刘立龙.动态对动态GPS高精度定位理论的及其应用研究.武汉:武汉大学博士学位论文, 2005.
[18]Frei E And Beutler G. Rapid static positioning based on the fast ambiguity resolution approach(FARA): theory and first results. Manuscripta Geodaetica. 1990, 15(6): 325-355.
[19]Remondi B W. Pseudo- Kinematic GPS Results Using the Ambiguity Functions.Navigation. 1989, 38(1): 17-36.
[20]Mader G L. Rapid Static and Kinematics Global Positioning System Solutions Using Ambiguity Function Technique. journal of Geophysical Research. 1992, 97(B3): 126-136.
[21]Remondi B W. Real time centimeter-accuracy GPS: Initializing while in motion. Proceedings of ION GPS-92.1992, 9: 1053-1061.
[22]Landau H. and Euler. On-the-Fly Ambiguity Resolution for Precise Differential Positioning. Proceedings of ION GPS-92 .1992, 9: 607-613.
[23]Han shaowei. Improving the computational efficiency of the ambiguity function algorithlm. Journal of Geodesy. 1995, 6, 70(6): 330-341.
[24]Hatch R. Instantaneous Ambiguity Resolution. International Associationof Geodesy Symposia No.107: Kinematic Systems in Geodesy, Surveying and Remote Sensing, Baniff, Allberta, Canada. 1990, 9: 299-308.
[25]韩绍伟.附加约束条件的模糊度函数法及其在GPS相位差分动态定位中的应用.武汉测绘科技大学学报. 1994,3,19(1): 7-14.
[26]Abidin H Z, Wel1s D E. A.kleusberg: Some Aspects of On the fly Ambiguity Resolution. Proceedings of the 6th International Geodetic Symposium on Satellite Positioning. Columbus, Ohio, 1992, 3: 1269-1281.
[27]Abidin H Z. On the Construction of the Ambiguity Searching Space for On-the-fly Ambiguity Resolution. Journal of Navigation. 1993,40(3): 321-338.
[28]Abidin H Z. On-the-fly ambiguitity resolution: formulation and result. Manuscript Geodaetica. 1993,18(6): 380-405.
[29]Hatch R, Euler H J. Comparison of Several AROF Kinematic Techniques. Proceedings of ION GPS-94. 1994, 9: 2-23.
[30]Teunissen P J G. The least-squares ambiguity decorrelation adjustment: a methodfor fast GPS integer ambiguity estimation. Journal of Geodesy, 1995, 11, 70(4): 65-82.
[31]Teunissen P J G. The invertible GPS ambiguity transformations. Manusoript Geodesy 1995, 20 (6): 489- 497
[32]Teunissen P J G. An analytical study of ambiguity decorrelation usingdualfrequency code and carrier phase. Journal of Geodesy. 1996, 5, 70(8): 515-528.
[33]Teunissen P J G . The Probability Distribution of the GPS Baseline for a Class of Integer Ambiguity Estimation. Journal of Geodesy. 1999, 73(5): 275-284.
[34]Teunissen P J G. A new approach to GPS ambiguity decorrelation. Journal of Geodesy. 1999, 10, 73(9): 478-490.
[35]Teunissen P J G. The Parameter Distributions of the Integer GPS Model. Journal of Geodesy. 2002, 1, 76(1): 41-48.
[36]Chen D. Fast Ambiguity Search Filter (FASF): A Novel Concept for GPS Ambiguity Resolution. Proceedings of GPS'93, The 6th International Technical Meeting of Satellite Division of the U.S. Institute of Navigation. 1993, 9: 781-787.
[37]Collierpa. Kinematics GPS for Deformation on Monitoring. Geomatic. 1997, 51(2): 157-168.
[38]http://www. pudn. com/downloads62
[39]高成发,赵毅,万德均.用LAMBDA改进算法固定GPS整周模糊度.武汉大学学报(信息科学版). 2006, 31(8): 744-747.
[40]林丹,郭敏,江华等GPS整周模糊度解算的LAMBDA方法及程序实现工程地球物理学报2006, 6, 3(3): 225-229
[41]Han shaowei. Ambiguity Recovery for long-range GPS Kinematic Positioning, Navigation. Journal of the Institute of Navigation, 1997, 44(2): 257-266
[42]周扬眉,刘经南,刘基余.回代解算的LABMDA方法及其搜索空间.测绘学报. 2005, 34(4): 300-304.
[2]李征航,黄劲松. GPS测量与数据处理.武汉:武汉大学出版社, 2005: 33-34, 153-154, 182-194.
[3]Gurtner W. RINEX: The Receiver-Independent Exchange Format. GPS World. 1994, 5(7): 49-64.
[4]陈树新. GPS整周模糊度动态确定的算法及性能研究.西安:西北工业大学博士学位论文, 2002.7
[5]赵树杰,赵建勋.信号检测与估计理论.北京:清华大学出版社, 2004: 323-330.
[6]Hemandez-Pajares M, J M Juan, Sanz J. Precise Ionospheric Determination and its Application to Real-Time GPS Ambiguity Resolution. Proceedings of ION GPS-99. 1999: 1409-1417.
[7]Han S. Quality Control issues relating to instantaneous ambiguity resolution for real-time GPS kinematic position. Journal of Geodesy. 1997, 5, 71(6): 351-361.
[8]Yang Gao, James F. McLellan and John B. Schleppe. An Optimized GPS Carrier Phase Ambiguity Search Method Focusing on Speed and Reliability. IEEE AES Systems Magazine. 1996, 11(12): 22-26.
[9]朱志宇,刘维亭,张冰.差分GPS载波相位整周模糊度快速解算方法.测绘科学. 2005, 6, 30(3): 54-57.
[10]喻国荣.论测量平差中的权和权阵.测绘通报. 2007, 7: 39-40
[11]刘基余. GPS卫星导航定位原理与方法.北京:科学出版社, 2003.
[12]陈小明,刘基余,李德仁. OTF方法及其在GPS辅助航空摄影测量数据处理中的应用.测绘学报. 1997, 5, 26(2): 101-108.
[13]高成发,赵毅,万德均. GPS载波定位中双差观测值权的合理确定.测绘科学. 2005, 6, 30(3): 28-32.
[14]郭兴华. GPS动态实时定位技术研究.哈尔滨:哈尔滨工程大学硕士学位论文, 2007.
[15]王仁谦. GPS动态定位的理论研究.长沙:中南大学博士学位论文, 2004.
[16]李淑惠,刘经南.整周模糊度解算的效性比较和分析.测绘通报. 2003, 10: 1-3.
[17]刘立龙.动态对动态GPS高精度定位理论的及其应用研究.武汉:武汉大学博士学位论文, 2005.
[18]Frei E And Beutler G. Rapid static positioning based on the fast ambiguity resolution approach(FARA): theory and first results. Manuscripta Geodaetica. 1990, 15(6): 325-355.
[19]Remondi B W. Pseudo- Kinematic GPS Results Using the Ambiguity Functions.Navigation. 1989, 38(1): 17-36.
[20]Mader G L. Rapid Static and Kinematics Global Positioning System Solutions Using Ambiguity Function Technique. journal of Geophysical Research. 1992, 97(B3): 126-136.
[21]Remondi B W. Real time centimeter-accuracy GPS: Initializing while in motion. Proceedings of ION GPS-92.1992, 9: 1053-1061.
[22]Landau H. and Euler. On-the-Fly Ambiguity Resolution for Precise Differential Positioning. Proceedings of ION GPS-92 .1992, 9: 607-613.
[23]Han shaowei. Improving the computational efficiency of the ambiguity function algorithlm. Journal of Geodesy. 1995, 6, 70(6): 330-341.
[24]Hatch R. Instantaneous Ambiguity Resolution. International Associationof Geodesy Symposia No.107: Kinematic Systems in Geodesy, Surveying and Remote Sensing, Baniff, Allberta, Canada. 1990, 9: 299-308.
[25]韩绍伟.附加约束条件的模糊度函数法及其在GPS相位差分动态定位中的应用.武汉测绘科技大学学报. 1994,3,19(1): 7-14.
[26]Abidin H Z, Wel1s D E. A.kleusberg: Some Aspects of On the fly Ambiguity Resolution. Proceedings of the 6th International Geodetic Symposium on Satellite Positioning. Columbus, Ohio, 1992, 3: 1269-1281.
[27]Abidin H Z. On the Construction of the Ambiguity Searching Space for On-the-fly Ambiguity Resolution. Journal of Navigation. 1993,40(3): 321-338.
[28]Abidin H Z. On-the-fly ambiguitity resolution: formulation and result. Manuscript Geodaetica. 1993,18(6): 380-405.
[29]Hatch R, Euler H J. Comparison of Several AROF Kinematic Techniques. Proceedings of ION GPS-94. 1994, 9: 2-23.
[30]Teunissen P J G. The least-squares ambiguity decorrelation adjustment: a methodfor fast GPS integer ambiguity estimation. Journal of Geodesy, 1995, 11, 70(4): 65-82.
[31]Teunissen P J G. The invertible GPS ambiguity transformations. Manusoript Geodesy 1995, 20 (6): 489- 497
[32]Teunissen P J G. An analytical study of ambiguity decorrelation usingdualfrequency code and carrier phase. Journal of Geodesy. 1996, 5, 70(8): 515-528.
[33]Teunissen P J G . The Probability Distribution of the GPS Baseline for a Class of Integer Ambiguity Estimation. Journal of Geodesy. 1999, 73(5): 275-284.
[34]Teunissen P J G. A new approach to GPS ambiguity decorrelation. Journal of Geodesy. 1999, 10, 73(9): 478-490.
[35]Teunissen P J G. The Parameter Distributions of the Integer GPS Model. Journal of Geodesy. 2002, 1, 76(1): 41-48.
[36]Chen D. Fast Ambiguity Search Filter (FASF): A Novel Concept for GPS Ambiguity Resolution. Proceedings of GPS'93, The 6th International Technical Meeting of Satellite Division of the U.S. Institute of Navigation. 1993, 9: 781-787.
[37]Collierpa. Kinematics GPS for Deformation on Monitoring. Geomatic. 1997, 51(2): 157-168.
[38]http://www. pudn. com/downloads62
[39]高成发,赵毅,万德均.用LAMBDA改进算法固定GPS整周模糊度.武汉大学学报(信息科学版). 2006, 31(8): 744-747.
[40]林丹,郭敏,江华等GPS整周模糊度解算的LAMBDA方法及程序实现工程地球物理学报2006, 6, 3(3): 225-229
[41]Han shaowei. Ambiguity Recovery for long-range GPS Kinematic Positioning, Navigation. Journal of the Institute of Navigation, 1997, 44(2): 257-266
[42]周扬眉,刘经南,刘基余.回代解算的LABMDA方法及其搜索空间.测绘学报. 2005, 34(4): 300-304.