GPS接收机关键技术研究
摘要
GPS(Global Positioning System,全球定位系统)以其高精度、自动化、高效益、全球性以及全天候实时定位的特点,在军事和民用领域得到了广泛的应用和发展。而近几年来,各国都在致力于发展本国的全球定位导航系统,如俄罗斯的GLONASS全球定位系统、欧洲的Galileo全球定位系统和我国的北斗全球定位系统等。然而,对于各种系统中对应的接收机的关键技术研究就成为一个十分突出的问题。本文以GPS接收机为例,研究了GPS系统中绝对定位、伪距差分定位以及载波相位测量这三种应用里的GPS接收机关键技术。
论文首先以NovAtel的SUPERSTAR II GPS单频接收机和MATLAB为平台,介绍了SUPERSTAR II接收机的特性及Marconi数据格式和ICD-GPS-200导航电文协议,阐述了GPS绝对定位的实现算法,包括GPS导航电文的获取与解码、GPS卫星位置计算、卫星轨道拟合以及伪距计算,同时还讨论了影响GPS接收机定位的各种误差来源及修正方法,包括:群延迟、卫星钟误差及其修正方法、电离层误差及修正方法、对流层误差及修正方法、相对论效应、地球自转效应、接收机钟差。然后在MATLAB平台上实现了误差修正及定位解算。
其次,面对当今差分定位技术DGPS的广泛应用,进行了伪距差分定位的关键技术研究。在掌握了GPS差分定位原理的基础上,作者实现了对RTCM SC-104电文的解码算法。并利用SUPERSTAR II GPS接收机和X60基准站搭建差分平台,在MATLAB中实现了伪距差分的定位解算算法。
最后,论文以测量型GPS接收机为研究背景,对载波相位测量中的两个核心问题:周跳的探测与修复和整周模糊度的解算进行了研究。在周跳的探测与修复中,作者提出了利用高次差法和多项式法结合的算法来探测与修复周跳的算法;同时,在整周模糊度的解算方面,应用相对定位原理,通过逐步建立单差模型、双差模型以及三差模型的方法来解算整周模糊度。并在此基础上,作者在MATLAB中实现了周跳的探测与修复和整周模糊度的解算这两个核心问题。
The GPS (Global Positioning System) has been got the application and development far and wide in the military and civil affairs for its high precision, automation, high efficacies, world wide and round-the-clock, and in the near years, there are many countries to develop their own global positioning system such as the GLONASS of Russia, Galileo system of Europe and our Beidou global positioning system while the key technology of the receiver are being an outstanding problem for various systems. The paper, taking the GPS receiver for example, has studied the key technologies of receiver in the absolute positioning, pseudo-range difference and carrier phase measurement these 3 applications.
First, the paper took the SUPERSTAR II single frequency of NovAtel and the MATLAB to introduce the specialty of SUPERSTAR II receiver, the data format of Marconi and the navigation data protocol ICD-GPS-200 describing the algorithms of absolute positioning such as the acquisition and decoding of GPS navigation data, the position calculation of satellite, the fitting of satellite orbit and pseudo-range calculation, meanwhile, it also discussed various error sources to influence the positioning result and some correcting methods such as group delay, the error of satellite clock and its correcting method, ionosphere error and its correcting method, troposphere delay and its correcting method, relativistic effect, the earth rotation effect and the clock error of receiver, which were corrected with MATLAB.
Second, facing the current wide application of Differential GPS technology, the paper has studied the key technology of DGPS with pseudo-range. On the foundation of gripping the DGPS principle,the author has done the decoding algorithm of RTCMSC-104; Meanwhile, the author has also realized the positioning algorithm of pseudo-range DGPS in MATLAB with the platform built with SUPERSTAR II GPS receiver and X60 reference station.
At last, taking the background of GPS receiver for measuring, the paper has studied the two key problems in carrier and phase measurement: the cycle-slip detecting and the calculation of integer ambiguity. In the cycle-slip detecting and correcting, the author brought up the algorithm making the high-order difference combine the polynomial method to detect and correct the cycle-slip; on the other hand, the author built the single different, double different and triple different step by step on the foundation of relative position principle. Further more, the author has solved the cycle-slip detecting and correcting and the calculation of integer ambiguity these two key problems.
论文首先以NovAtel的SUPERSTAR II GPS单频接收机和MATLAB为平台,介绍了SUPERSTAR II接收机的特性及Marconi数据格式和ICD-GPS-200导航电文协议,阐述了GPS绝对定位的实现算法,包括GPS导航电文的获取与解码、GPS卫星位置计算、卫星轨道拟合以及伪距计算,同时还讨论了影响GPS接收机定位的各种误差来源及修正方法,包括:群延迟、卫星钟误差及其修正方法、电离层误差及修正方法、对流层误差及修正方法、相对论效应、地球自转效应、接收机钟差。然后在MATLAB平台上实现了误差修正及定位解算。
其次,面对当今差分定位技术DGPS的广泛应用,进行了伪距差分定位的关键技术研究。在掌握了GPS差分定位原理的基础上,作者实现了对RTCM SC-104电文的解码算法。并利用SUPERSTAR II GPS接收机和X60基准站搭建差分平台,在MATLAB中实现了伪距差分的定位解算算法。
最后,论文以测量型GPS接收机为研究背景,对载波相位测量中的两个核心问题:周跳的探测与修复和整周模糊度的解算进行了研究。在周跳的探测与修复中,作者提出了利用高次差法和多项式法结合的算法来探测与修复周跳的算法;同时,在整周模糊度的解算方面,应用相对定位原理,通过逐步建立单差模型、双差模型以及三差模型的方法来解算整周模糊度。并在此基础上,作者在MATLAB中实现了周跳的探测与修复和整周模糊度的解算这两个核心问题。
The GPS (Global Positioning System) has been got the application and development far and wide in the military and civil affairs for its high precision, automation, high efficacies, world wide and round-the-clock, and in the near years, there are many countries to develop their own global positioning system such as the GLONASS of Russia, Galileo system of Europe and our Beidou global positioning system while the key technology of the receiver are being an outstanding problem for various systems. The paper, taking the GPS receiver for example, has studied the key technologies of receiver in the absolute positioning, pseudo-range difference and carrier phase measurement these 3 applications.
First, the paper took the SUPERSTAR II single frequency of NovAtel and the MATLAB to introduce the specialty of SUPERSTAR II receiver, the data format of Marconi and the navigation data protocol ICD-GPS-200 describing the algorithms of absolute positioning such as the acquisition and decoding of GPS navigation data, the position calculation of satellite, the fitting of satellite orbit and pseudo-range calculation, meanwhile, it also discussed various error sources to influence the positioning result and some correcting methods such as group delay, the error of satellite clock and its correcting method, ionosphere error and its correcting method, troposphere delay and its correcting method, relativistic effect, the earth rotation effect and the clock error of receiver, which were corrected with MATLAB.
Second, facing the current wide application of Differential GPS technology, the paper has studied the key technology of DGPS with pseudo-range. On the foundation of gripping the DGPS principle,the author has done the decoding algorithm of RTCMSC-104; Meanwhile, the author has also realized the positioning algorithm of pseudo-range DGPS in MATLAB with the platform built with SUPERSTAR II GPS receiver and X60 reference station.
At last, taking the background of GPS receiver for measuring, the paper has studied the two key problems in carrier and phase measurement: the cycle-slip detecting and the calculation of integer ambiguity. In the cycle-slip detecting and correcting, the author brought up the algorithm making the high-order difference combine the polynomial method to detect and correct the cycle-slip; on the other hand, the author built the single different, double different and triple different step by step on the foundation of relative position principle. Further more, the author has solved the cycle-slip detecting and correcting and the calculation of integer ambiguity these two key problems.
引文
[1] Elliott D. Kaplan. GPS原理与应用[M].北京:电子工业出版社. 2002.
[2]李天文.GPS原理及应用[M].北京:科学出版社. 2003: 5-8.
[3] James Bao-Yen Tsui.Fundamentals of Global Positioning System Receivers GPS[M]. A Wiley Interscience Publication. 2000.
[4]吴玲,孙永荣,俞晓磊等. GPS/GLONASS/GALILEO多星导航系统研究[J].中国空间科学技术.2009. Vol. 3: 15-18.
[5]刘春保.俄罗斯GLONASS系统政策、管理与发展[J].北京:中国航天. 2007.Vol. 4: 15-20.
[6]葛奎,王解先. GLONASS卫星位置与程序实现[J].北京:测绘与空间地理信息. 2009.4.Vol.32(2): 137-140.
[7]庄卫东,刘振东,王熙. GPS数据处理及其单点定位精度研究[J].黑龙江:黑龙江八一农垦大学学报。2003.6.Vol.15(2): 51-52.
[8]龚佑兴. GPS单点定位研究[D].湖南:中南大学. 2004.
[9]宁伟伟,姚宜斌,列峰.精密单点定位中周跳探测与修复方法研究[J].测绘信息与工程. 2007. Vol. 32(3): 34-36.
[10] ICD-GPS-200C[Z],2003.
[11]陈南.卫星导航系统导航电文结构的性能评估[J].武汉:武汉大学学报. 2008. Vol. 33(5): 512-515.
[12]田炳丽,宁春林,丁风雷等. GPS软件接收机导航电文提取的研究[J].北京:通信技术. 2009. Vol. 3(42): 212-215.
[13]李明峰,江国焰,张凯. IGS精密星历内插与拟合法精度的比较[J].北京:大地测量与地球动力学. 2008.Vol.2: 77-80.
[14]汪生燕,五海芹.浅谈WGS-84坐标系与任意坐标系的坐标转换[J].西部探矿工程. 2009.Vol.4: 148- 150.
[15]伍吉仓,邓康伟,陈永奇.地心坐标系与站心坐标系中的速度转换及误差传播[J].大地测量与地球动力学. 2005. Vol. 3: 114- 118.
[16]强成虎,李铮,郑铮等.高精度GPS时间信息的研究与应用[J].国外电测量技术. 2007. Vol. 3: 218-221.
[17] SUPERSTAR II Firmware Reference Manual[S].
[18]肖远亮. NMEA-0183数据标准在GPS技术中的应用[J].物探装备. 2003. Vol.2: 127-134.
[19]胡辉,叶鑫华. Marconi二进制数据采集软件实现[J].微计算机信息. 2009. Vol. 16: 114-116.
[20]林长川. SA取消前后RBN-DGPS系统精度评估与分析[J].中国航海. 2001.Vol. 2: 56-58.
[21]沙锦,李志华. DGPS后处理技术与交通信息采集应用[J].建设科技. 2007. Vol. 9: 15-18.
[22]李良,张小超,赵华平. GPS差分RTCM数据实时编码解码算法及实现[J].计算机工程与应用.2006.Vol.11: 209-211.
[23]刘涛,解永春.基于GPS相对伪距差分的相对导航方法的研究[J].中空空间科学技术. 2007.Vol.1: 1-8.
[24]李铁,孙贵新.对GPS载波相位差分电文格式的研究[J].中国科技信息. 2005.Vol.18: 1-1.
[25]姚勇,张春. GPS载波相位差分技术实时测姿的研究与应用[J].中国惯性技术学报. 2003. Vol. 3: 65- 68.
[26]张旭. GPS载波相位定位算法研究与仿真[D].哈尔滨工程大学.2007.1.
[27]李波.单历元GPS变形监测数据处理与软件研制[D].太原理工大学.2007.
[28] H.M. Peng, F.R.Chang. Rotation Method for Direction Finding via GPS Carrier Phases[J].IEEE.2007.Vol.1: 72-84.
[29]朱卓吾.载波相位测量技术的改进[D].西安电子科技大学.2007.1.
[30]彭秀英. GPS周跳探测与修复的算法研究与实现[D].中国石油大学. 2007. Vol. 4: 3-5.
[31]喻国荣.单历元模糊度解算问题[J],测绘通报, 2003: 6-8.
[32]李建文等. GPS/GLONASS载波相位测量模糊度解算方法[J].测绘学院学报.2004. Vol. 21(3):163-165.
[33] Jaewoo Jung. High Integrity Carrier Phase Navigation Using Multiple Civil GPS Signals[D]. Dissertation for the Degree of Doctor of Philosophy of Stanford University.2003.Vol. 2: 49-53.
[34]周红进,许江宁,李方能. GPS卫星位置计算及精度鉴定方法研究[J].计算机测量与控制.2005. Vol. 11: 1177-1181.
[35]郭秋英等. GPS卫星坐标的计算[J].全球定位系统. 2006. Vol. 3: 13-16.
[36]何燚峰,聂亮.切比雪夫多项式在标准化卫星轨道中的应用[J].科技信息. 2009.Vol. 6: 427-427.
[37]兰孝奇等. GPS广播星历轨道误差实验研究[J].江苏地质. 2004. Vol. 3: 174-176.
[38]余鹏等. GPS卫星广播星历轨道误差的探讨[J].测绘通报. 2004. Vol. 4: 6-8.
[39]韩玲.区域GPS电离层TEC监测、建模和应用[D]. 2006.3.
[40]谢世杰,潘宝玉. GPS测量的对流层误差[J].地矿测绘. 2004.Vol. 2: 1-4.
[41]冯超,田蔚风等.GPS载波相位双差整周模糊度在航求解[J].中国惯性技术学报.2004. Vol. 12(5): 26-30.
[42]王贵文,王泽民等.基于三差观测量的实时动态GPS周跳修复方法研究[J].武汉大学学报·信息科学版.2007. Vol. 32(8): 711-714.
[2]李天文.GPS原理及应用[M].北京:科学出版社. 2003: 5-8.
[3] James Bao-Yen Tsui.Fundamentals of Global Positioning System Receivers GPS[M]. A Wiley Interscience Publication. 2000.
[4]吴玲,孙永荣,俞晓磊等. GPS/GLONASS/GALILEO多星导航系统研究[J].中国空间科学技术.2009. Vol. 3: 15-18.
[5]刘春保.俄罗斯GLONASS系统政策、管理与发展[J].北京:中国航天. 2007.Vol. 4: 15-20.
[6]葛奎,王解先. GLONASS卫星位置与程序实现[J].北京:测绘与空间地理信息. 2009.4.Vol.32(2): 137-140.
[7]庄卫东,刘振东,王熙. GPS数据处理及其单点定位精度研究[J].黑龙江:黑龙江八一农垦大学学报。2003.6.Vol.15(2): 51-52.
[8]龚佑兴. GPS单点定位研究[D].湖南:中南大学. 2004.
[9]宁伟伟,姚宜斌,列峰.精密单点定位中周跳探测与修复方法研究[J].测绘信息与工程. 2007. Vol. 32(3): 34-36.
[10] ICD-GPS-200C[Z],2003.
[11]陈南.卫星导航系统导航电文结构的性能评估[J].武汉:武汉大学学报. 2008. Vol. 33(5): 512-515.
[12]田炳丽,宁春林,丁风雷等. GPS软件接收机导航电文提取的研究[J].北京:通信技术. 2009. Vol. 3(42): 212-215.
[13]李明峰,江国焰,张凯. IGS精密星历内插与拟合法精度的比较[J].北京:大地测量与地球动力学. 2008.Vol.2: 77-80.
[14]汪生燕,五海芹.浅谈WGS-84坐标系与任意坐标系的坐标转换[J].西部探矿工程. 2009.Vol.4: 148- 150.
[15]伍吉仓,邓康伟,陈永奇.地心坐标系与站心坐标系中的速度转换及误差传播[J].大地测量与地球动力学. 2005. Vol. 3: 114- 118.
[16]强成虎,李铮,郑铮等.高精度GPS时间信息的研究与应用[J].国外电测量技术. 2007. Vol. 3: 218-221.
[17] SUPERSTAR II Firmware Reference Manual[S].
[18]肖远亮. NMEA-0183数据标准在GPS技术中的应用[J].物探装备. 2003. Vol.2: 127-134.
[19]胡辉,叶鑫华. Marconi二进制数据采集软件实现[J].微计算机信息. 2009. Vol. 16: 114-116.
[20]林长川. SA取消前后RBN-DGPS系统精度评估与分析[J].中国航海. 2001.Vol. 2: 56-58.
[21]沙锦,李志华. DGPS后处理技术与交通信息采集应用[J].建设科技. 2007. Vol. 9: 15-18.
[22]李良,张小超,赵华平. GPS差分RTCM数据实时编码解码算法及实现[J].计算机工程与应用.2006.Vol.11: 209-211.
[23]刘涛,解永春.基于GPS相对伪距差分的相对导航方法的研究[J].中空空间科学技术. 2007.Vol.1: 1-8.
[24]李铁,孙贵新.对GPS载波相位差分电文格式的研究[J].中国科技信息. 2005.Vol.18: 1-1.
[25]姚勇,张春. GPS载波相位差分技术实时测姿的研究与应用[J].中国惯性技术学报. 2003. Vol. 3: 65- 68.
[26]张旭. GPS载波相位定位算法研究与仿真[D].哈尔滨工程大学.2007.1.
[27]李波.单历元GPS变形监测数据处理与软件研制[D].太原理工大学.2007.
[28] H.M. Peng, F.R.Chang. Rotation Method for Direction Finding via GPS Carrier Phases[J].IEEE.2007.Vol.1: 72-84.
[29]朱卓吾.载波相位测量技术的改进[D].西安电子科技大学.2007.1.
[30]彭秀英. GPS周跳探测与修复的算法研究与实现[D].中国石油大学. 2007. Vol. 4: 3-5.
[31]喻国荣.单历元模糊度解算问题[J],测绘通报, 2003: 6-8.
[32]李建文等. GPS/GLONASS载波相位测量模糊度解算方法[J].测绘学院学报.2004. Vol. 21(3):163-165.
[33] Jaewoo Jung. High Integrity Carrier Phase Navigation Using Multiple Civil GPS Signals[D]. Dissertation for the Degree of Doctor of Philosophy of Stanford University.2003.Vol. 2: 49-53.
[34]周红进,许江宁,李方能. GPS卫星位置计算及精度鉴定方法研究[J].计算机测量与控制.2005. Vol. 11: 1177-1181.
[35]郭秋英等. GPS卫星坐标的计算[J].全球定位系统. 2006. Vol. 3: 13-16.
[36]何燚峰,聂亮.切比雪夫多项式在标准化卫星轨道中的应用[J].科技信息. 2009.Vol. 6: 427-427.
[37]兰孝奇等. GPS广播星历轨道误差实验研究[J].江苏地质. 2004. Vol. 3: 174-176.
[38]余鹏等. GPS卫星广播星历轨道误差的探讨[J].测绘通报. 2004. Vol. 4: 6-8.
[39]韩玲.区域GPS电离层TEC监测、建模和应用[D]. 2006.3.
[40]谢世杰,潘宝玉. GPS测量的对流层误差[J].地矿测绘. 2004.Vol. 2: 1-4.
[41]冯超,田蔚风等.GPS载波相位双差整周模糊度在航求解[J].中国惯性技术学报.2004. Vol. 12(5): 26-30.
[42]王贵文,王泽民等.基于三差观测量的实时动态GPS周跳修复方法研究[J].武汉大学学报·信息科学版.2007. Vol. 32(8): 711-714.
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