GPS/Galileo系统间偏差的随机模型对三频动态PPP的影响
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摘要
针对传统全球导航卫星系统(GNSS)多频多系统精密单点定位(PPP)解算中系统间偏差(ISB)参数的随机模型多采用常数估计的局限性,提出以随机游走模型、白噪声模型和固定常数模型对其进行估计.基于不同分析中心所提供的精密产品,采用连续7 d 15个多全球导航卫星系统实验(MGEX)跟踪站的实测数据,系统地分析了不同ISB随机模型对全球定位系统/伽利略卫星导航系统(GPS/Galileo)三频非差非组合动态PPP定位精度与收敛时间的影响.结果表明:对于使用法国国家太空研究中心(CNES)与欧洲定轨中心(CODE)精密产品的多系统PPP,3种估计策略的定位精度与收敛时间基本相同;对于使用德国地学中心(GFZ)精密产品的多系统PPP,采用常数估计策略对定位误差的影响可高达约0.12 m.综合多天多测站统计结果,与常数估计相比较,将ISB作为高斯白噪声或者随机游走进行估计,三频动态PPP在东方向定位精度的改善显著,提高比率分别约为25%和15%.
Considering the limitation of constant estimation on traditional stochastic models of inter-system bias(ISB) parameters in the Global Navigation Satellite System(GNSS) precise point positioning(PPP), the random walk model, white noise model and fixed constant model are proposed to estimate ISB in this paper. Based on the precision products provided by different analysis centers, 7-day observation data from 15 Multi-GNSS expenment(MGEX) stations distributed globally was used to analyze the influence of ISB stochastic models on positioning accuracy and convergence time of GPS/Galileo triple-frequency undifferenced and uncombined kinematic PPP. The research results show that the differences in positioning accuracy and convergence time are not obvious among different ISB handling schemes for Centre National d'Etudes Spatiales(CNES) and Centre for Orbit Determination in Europe(CODE) precision products. As for multi-GNSS PPP solutions with German Research Centre for Geosciences(GFZ) precision products, the positioning error derived from constant handling schemes can be up to 0.12 m. The random walk and white noise handling schemes can improve the positioning accuracy in east direction significantly compared with constant handling schemes, and the improvement rates reach 25% and 15%, respectively.
Considering the limitation of constant estimation on traditional stochastic models of inter-system bias(ISB) parameters in the Global Navigation Satellite System(GNSS) precise point positioning(PPP), the random walk model, white noise model and fixed constant model are proposed to estimate ISB in this paper. Based on the precision products provided by different analysis centers, 7-day observation data from 15 Multi-GNSS expenment(MGEX) stations distributed globally was used to analyze the influence of ISB stochastic models on positioning accuracy and convergence time of GPS/Galileo triple-frequency undifferenced and uncombined kinematic PPP. The research results show that the differences in positioning accuracy and convergence time are not obvious among different ISB handling schemes for Centre National d'Etudes Spatiales(CNES) and Centre for Orbit Determination in Europe(CODE) precision products. As for multi-GNSS PPP solutions with German Research Centre for Geosciences(GFZ) precision products, the positioning error derived from constant handling schemes can be up to 0.12 m. The random walk and white noise handling schemes can improve the positioning accuracy in east direction significantly compared with constant handling schemes, and the improvement rates reach 25% and 15%, respectively.
引文
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[2] 李增科,高井祥,韩厚增.基于伪距残差相关性的GPS/INS紧耦合抗差滤波[J].中国矿业大学学报,2014,43(4):731-737.LI Zengke,GAO Jingxiang,HAN Houzeng.GPS/INS tightly-coupled robust filter based on residual correlation of pseudo-range[J].Journal of China University of Mining & Technology,2014,43(4):731-737.
[3] KHODABANDEH A,TEUNISSEN P J G.PPP-RTK and inter-system biases:The ISB look-up table as a means to support multi-system PPP-RTK[J].Journal of Geodesy,2016,90(9):837-851.
[4] ZENG Anmin,YANG Yuanxi,MING Feng,et al.BDS/GPS inter-system bias of code observation and its preliminary analysis[J].GPS Solutions,2017,21(2):1-9.
[5] LI Xingxing,GE Maorong,DAI Xiaolei,et al.Accuracy and reliability of multi-GNSS real-time precise positioning:GPS,GLONASS,BeiDou,and Galileo[J].Journal of Geodesy,2015,89(6):607-635.
[6] CHEN Junping,ZHANG Yize,WANG Jungang,et al.A simplified and unified model of multi-GNSS point positioning[J].Advances in Space Research,2015,55(1):125-134.
[7] JIANG Nan,XU Yan,XU Tianhe,et al.GPS/BDS short-term ISB modelling and prediction[J].GPS Solutions,2015,21(1):1-13.
[8] LI Pan,ZHANG Xiaohong.Integrating GPS and GLONASS to accelerate convergence and initialization times of precise point positioning[J].GPS Solutions,2014,18(3):461-471.
[9] DE BAKKER P F,TIBERIUS C C J M.Real-time multi-GNSS single-frequency precise point positioning[J].GPS Solutions,2017,21(4):1791-1803.
[10] ZHOU Feng,DONG Dandan,LI Pan,et al.Influence of stochastic modeling for inter-system biases on multi-GNSS undifferenced and uncombined precise point positioning[J].GPS Solutions,2019,23(3):59-71.
[11] 周锋.多系统 GNSS 非差非组合精密单点定位相关理论和方法研究[D].上海:华东师范大学.2018:11-34.ZHOU Feng.Theory and methodology of multi-GNSS undifferenced and uncombined precise point positioning[D].Shanghai:East China Normal University,2018:11-34.
[12] PRANGE L,ORLIAC E,DACH R,et al.CODE's five-system orbit and clock solution:The challenges of multi-GNSS data analysis[J].Journal of Geodesy,2017,91(4):345-360.
[13] GUO Jing,XU Xiaolong,ZHAO Qile,et al.Precise orbit determination for quad-constellation satellites at Wuhan University:Strategy,result validation,and comparison[J].Journal of Geodesy,2016,90(2):143-159.
[14] LEICK A,RAPOPORT L,TATARNIKOV D.GPS satellite surveying,4th Edition[M].Hoboken:John Wiley & Sons,2014:1-10.
[15] KOUBA J,HéROUX P.Precise point positioning using IGS orbit and clock products[J].GPS Solutions,2001,5(2):12-28.
[16] PAN Lin,ZHANG Xiaohong,LI Xingxing,et al.Characteristics of inter-frequency clock bias for Block IIF satellites and its effect on triple-frequency GPS precise point positioning[J].GPS Solutions,2017,21(2):811-822.
[17] LI Pan,ZHANG Xiaohong,GE Maorong,et al.Three-frequency BDS precise point positioning ambiguity resolution based on raw observables[J].Journal of Geodesy,2018,23(2):11-32.
[18] ODIJK D,ZHANG Baocheng,KHODABANDEH A,et al.On the estimability of parameters in undifferenced,uncombined GNSS network and PPP-RTK user models by means of S-system theory[J].Journal of Geodesy,2016,90(1):15-44.
[19] REBISCHUNG P,SCHMID R.IGS14/igs14.atx:A new framework for the IGS products[C]//AGU Fall Meeting.San Francisco:American Geophysical Union,2016.
[20] 姚一飞,高井祥,王坚,等.北斗三频载波观测值的周跳实时探测与修复[J].中国矿业大学学报,2014,43(6):1141-1148.YAO Yifei,GAO Jingxiang,WANG Jian,et al.Real-time cycle-slip detection and repair for compass triple-frequency carrier phase observations[J].Journal of China University of Mining & Technology,2014,43(6):1141-1148.
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