Galileo/GPS载波相位组合观测值及其在RTK定位模糊度解算中的应用研究
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摘要
随着Galileo系统的建成和完全投入运行以及GPS系统的现代化,未来将是一个多种导航定位系统融合的新时代,其功能更加完善、服务更加全面、应用行业和领域更宽泛、更普及。因此,研究解决观测值的组合问题,对于将来充分利用多系统卫星进行组合定位有着十分重大的理论与实际意义。论文主要包括以下内容:
1)详细地介绍了Galileo系统,包括Galileo系统的组成,系统的建设现状,系统的参数设计及Galileo系统提供的服务;同时对GPS现代化的内容也做了介绍。比较了Galileo系统、GPS系统和GLONASS系统的系统参数和性能。
2)详细介绍了Galileo系统模拟软件(GSSF V2.11)的功能,并系统介绍了卫星星座对定位精度影响的理论和方法,定义了各类DOP值来定量描述卫星几何强度因子,并以它们作为主要评价指标。利用GSSFV2.11软件模拟了全球范围内的某一天的卫星可见性和各类DOP值,得到了Galileo系统的卫星可见数和DOP值随空间,时间的分布规律和分布曲线;并与GPS系统的卫星可见性和各类DOP值做了比较分析,利用Galileo系统进行导航定位时的卫星可见数更多,DOP值更小且变化不大、分布均匀;得出了Galileo系统星座设计优于GPS。
3)论述了GNSS系统的观测值模型和主要的误差来源及消除或减小这些误差影响的措施。给出了单系统和双系统组合观测值的非差、双差组合观测值的表达式,并对组合观测值的相应误差项做了分析。列出了组合观测值的选取标准,筛选出了具有良好特性的组合观测值。
4)讨论了RTK技术的应用现状和存在的不足;总结了当前模糊度解算方法;详细介绍了TCAR/MCAR,并研究了基于Galileo/GPS载波相位组合观测值的TCAR/MCAR方法,得出了一些能快速解算模糊度的有效组合。
With the Galileo system's been constructed,full-operation and the GPS modernization,the future will be a new era which there are many navigation positioning systems syncretized and the function to be more perfect, the service to be more comprehensive, the application to be more popular, the fields involved to be broader.Therefore, the research on the combined observations,it's very significant in the theory and practice when the multi-system satellites will be used to positioning in the future.The paper is mainly composed of some contents, as follows:
1) The Galileo system has been introduced in detail and comprehensively, including the Galileo system's composition, the present situation of construction, the parameter design of the system as well as the services the Galileo system provides; And it has made the introduction on the GPS modernization contents. In system parameters and performance, it has compared between the two of the Galileo system, GPS and GLONASS system.
2) The functions of the Galileo System Simulation Facility (GSSF V2.11) have been Introduced in detail, And the theories and the methods which the satellite constellation influence the pointing accuracy have been introduced systematically.All kinds of DOP's values have been defined to describe the satellite-geometry intensity factor quantificationally and have been taken as the main evaluating indicators.With the GSSFV2.11 software, the global scale's satellite visibility and all kinds of DOP's values in some day have been simulated, the distribution rule and the distributed curve of the Galileo system's satellite visibility and the DOP's values along with the space and the time have been obtained; And the analyses have been made by comparing with the GPS;when the Galileo system is used to navigate and position ,the number of the visible satellites will be more;the DOP's values will be even smaller; the change is not obvious, and the distribution is even well-proportioned., and it has obtained that the constellation designment of the Galileo system is superior to GPS.
3) In the article,the GNSS' observation model and the main error sources and the measures which are used to eliminate or reduce the affect these errors result in have been discussed.The non-difference combined observation and the double-difference combined observation Expressions have been given in single-system and double-system, and it has made the analyses on the corresponding error terms of the combined observations. The criterions which are used to select the combined observations have been listed and some super-performance combined observations have been selected.
4) The present situation and the existed insufficiency of RTK has been discussed ; And the current ambiguity resolutions has been summarized; TCAR/MCAR has been introduced in detailjand the TCAR / MCAR method based on the Galileo / GPS carrier-phase combined observations has been researched;and it has obtained some valid combined observations which are used to resolve the ambiguity fast.
1)详细地介绍了Galileo系统,包括Galileo系统的组成,系统的建设现状,系统的参数设计及Galileo系统提供的服务;同时对GPS现代化的内容也做了介绍。比较了Galileo系统、GPS系统和GLONASS系统的系统参数和性能。
2)详细介绍了Galileo系统模拟软件(GSSF V2.11)的功能,并系统介绍了卫星星座对定位精度影响的理论和方法,定义了各类DOP值来定量描述卫星几何强度因子,并以它们作为主要评价指标。利用GSSFV2.11软件模拟了全球范围内的某一天的卫星可见性和各类DOP值,得到了Galileo系统的卫星可见数和DOP值随空间,时间的分布规律和分布曲线;并与GPS系统的卫星可见性和各类DOP值做了比较分析,利用Galileo系统进行导航定位时的卫星可见数更多,DOP值更小且变化不大、分布均匀;得出了Galileo系统星座设计优于GPS。
3)论述了GNSS系统的观测值模型和主要的误差来源及消除或减小这些误差影响的措施。给出了单系统和双系统组合观测值的非差、双差组合观测值的表达式,并对组合观测值的相应误差项做了分析。列出了组合观测值的选取标准,筛选出了具有良好特性的组合观测值。
4)讨论了RTK技术的应用现状和存在的不足;总结了当前模糊度解算方法;详细介绍了TCAR/MCAR,并研究了基于Galileo/GPS载波相位组合观测值的TCAR/MCAR方法,得出了一些能快速解算模糊度的有效组合。
With the Galileo system's been constructed,full-operation and the GPS modernization,the future will be a new era which there are many navigation positioning systems syncretized and the function to be more perfect, the service to be more comprehensive, the application to be more popular, the fields involved to be broader.Therefore, the research on the combined observations,it's very significant in the theory and practice when the multi-system satellites will be used to positioning in the future.The paper is mainly composed of some contents, as follows:
1) The Galileo system has been introduced in detail and comprehensively, including the Galileo system's composition, the present situation of construction, the parameter design of the system as well as the services the Galileo system provides; And it has made the introduction on the GPS modernization contents. In system parameters and performance, it has compared between the two of the Galileo system, GPS and GLONASS system.
2) The functions of the Galileo System Simulation Facility (GSSF V2.11) have been Introduced in detail, And the theories and the methods which the satellite constellation influence the pointing accuracy have been introduced systematically.All kinds of DOP's values have been defined to describe the satellite-geometry intensity factor quantificationally and have been taken as the main evaluating indicators.With the GSSFV2.11 software, the global scale's satellite visibility and all kinds of DOP's values in some day have been simulated, the distribution rule and the distributed curve of the Galileo system's satellite visibility and the DOP's values along with the space and the time have been obtained; And the analyses have been made by comparing with the GPS;when the Galileo system is used to navigate and position ,the number of the visible satellites will be more;the DOP's values will be even smaller; the change is not obvious, and the distribution is even well-proportioned., and it has obtained that the constellation designment of the Galileo system is superior to GPS.
3) In the article,the GNSS' observation model and the main error sources and the measures which are used to eliminate or reduce the affect these errors result in have been discussed.The non-difference combined observation and the double-difference combined observation Expressions have been given in single-system and double-system, and it has made the analyses on the corresponding error terms of the combined observations. The criterions which are used to select the combined observations have been listed and some super-performance combined observations have been selected.
4) The present situation and the existed insufficiency of RTK has been discussed ; And the current ambiguity resolutions has been summarized; TCAR/MCAR has been introduced in detailjand the TCAR / MCAR method based on the Galileo / GPS carrier-phase combined observations has been researched;and it has obtained some valid combined observations which are used to resolve the ambiguity fast.
引文
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[5]http://www.esa.int/esaNA/galileo.html
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[9]王解先,刘红新.Galileo、GPS和Galileo/GPS组合系统实用性的比较[J].大地测量与地球动力学.2005,25(1)
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[13]周其焕.Galileo系统得频率和信号结构[J].全球定位系统,2004
[14]郭英,卢秀山.基于RTK模式的应用GPSⅢ和Galileo模糊度算法分析[J].山东科技大学学报(自然科学版),2006,25(3):57-60
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[18]伍岳.第二代导航卫星系统[D].武汉大学,2005
[19]王泽民,孟泱,伍岳等.GPS、Galileo及其组合系统导航定位的DOP值分析[J].武汉大学学报(信息科学版),2006,31(1):9-11
[20]赵春梅,欧吉坤,袁运斌.基于单点定位模型的Galileo及GPS-Galileo组合系统的定位精度和可靠性的仿真分析[J].科学通报,2005,50(8):811-819
[21]俞国荣.GPS三个频率整周模糊度相关性研究[J].GPS world of China,2006
[22]周晓慧.GPS现代化中L5的模拟[J].襄樊职业技术学院学报,2006,5(1):1-4
[23]梁开龙,张玉册.现代化GPS信号的宽巷组合及其求解模糊度研究[J].测绘通报,2002(4):1-3
[24]黄德武,熊永良.一种新的模糊度求解方法—CIR[J].河南理工大学学报,2005,24(6):455-457
[25]王泽民,柳景斌,伍岳等.利用Galileo多个载波观测值解算整周模糊度的方法研究[J].测绘通报,2006年第12期
[25]Seema Phalke.GPS and Galileo Performance Evaluations for Multiple Reference Station Network Positioning[D].University of Calgary,2006
[26]Todd Richert.Zhe Impact of Future Global Navigation Satellite Systems on Precise Carrier Phase Positioning[D].University of Calgary,2005
[27]Wentao Zhang.Triple Frequency Cascading Ambiguity Resolution for Modernized GPS and Galileo[D].University of Calgary,2005
[28]GSSF Team.Using GSSF.2005.5
[29]GSSF Team.Galileo System Simulation Facility—GSSF Models and Algorithms[M].2005
[30]Manuel Hernandez-Pajares.Feasibility of Wide-Area Subdecimeter Navigation With GALILEO and Modernized GPS[J].IEEE TRANSACTIONS ON GEOSCIENCE AND REMOTE SENSING,2003,41(9):2128-3131
[31]Yanming Feng.Combined Galileo and GPS:A technical Perspective[J].Journal of Global Positioning Systems,2003,2(1):67-72
[32]Christian Tiberius,Edward Verbree.GNSS positioning accuracy and availability within Location Based Services:The advantages of combined GPS-Calileo Positioning.
[33]W.Y.OCHIENG,K.F.SHENIDAN,X.HAN,P.A.CROSS,S.LANNELONGUE.Integrity Performance Models for a Combined Galileo/GPS Navigation System[J].Journal of Geospatial Engineering,3(1):21-32
[34]W.Y.Ochieng,K.Sauer.Potential Performance Levels of a Combined Galileo/GPS Navigation System[J].154(2):185-197
[35]Manuel Hernandez-Pajares,J.Miguel Juan,Jaume Sanz.Wide Area Real Time Kinematics with Galileo and GPS Signals[C].ION GNSS 17th international Technical Meeting of the Satellite Division,21-24Sept,2004,2541-2553
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