GPS高精度准实时动态定位算法研究及其程序实现

发布时间：2018-01-28 10:47

本文关键词： 单历元算法 M-LAMBDA 附加模糊度参数的扩展Kalman滤波 RTKLIB　出处：《长安大学》2013年硕士论文　论文类型：学位论文

【摘要】：随着我国北斗二代卫星系统正式提供服务，GNSS的空间可视卫星数目也得到了进一步的扩充，其相关的理论及应用研究也朝着多模、多频、实时、动态的方向发展。如今GNSS的应用领域越来越广泛，这对GNSS定位也提出了更高的要求，，不仅要求其保持高精度的特性，而且还要能够满足实时定位的需求，例如，在精确制导、航天车载导航、突发性自然灾害实时监测等应用领域，GNSS必须能够实现实时的高精度定位。因此，积极研究和发展GNSS的实时动态定位理论和技术具有重要的理论和实际价值。基于此，本文开展了以下四项研究工作：（1）针对双频载波相位观测数据组成的单历元双差模型法方程秩亏问题，应用和实现了引入码观测值来改善其秩亏情况，有效避免了采用双频相位观测值需进行多历元初始化模糊度时引发的法方程病态性问题；（2）实时动态定位要求模糊度搜索固定策略具有较高的时效性，本文采用了效率更高的M-LAMBDA算法进行模糊度的搜索和固定，并通过Ratio值检验固定模糊度的有效性；（3）将附加模糊度参数的扩展Kalman滤波应用到单历元浮点解求解中，由于该方法能够良好地继承上一历元的有效信息，并能有效地对当前历元进行预测和修正，因此，该滤波方法在提高单历元解算精度和预报精度的同时，还大大简化了运算的复杂性；（4）在上述GNSS数据处理理论及技术方法研究的基础上，基于GNSS开源软件代码包RTKLIB编写了高精度准实时相对定位程序。该程序能够利用单历元的观测数据进行准实时定位解算，其解算精度能够满足一些常规的GNSS形变监测工作需求。
[Abstract]:With the further expansion of the number of space-visible satellites that the second generation satellite system of Beidou officially provides services to GNSS, the related theoretical and application research is also moving towards multi-mode, multi-frequency and real-time. Nowadays, the application of GNSS is becoming more and more extensive, which puts forward higher requirements for GNSS positioning, not only to maintain its high accuracy characteristics. And can also meet the needs of real-time positioning, such as precision guidance, space vehicle navigation, real-time monitoring of sudden natural disasters and other applications. GNSS must be able to achieve real-time high-precision positioning. Therefore, it is of great theoretical and practical value to actively research and develop the real-time dynamic positioning theory and technology of GNSS. The following four studies have been carried out in this paper: 1) aiming at the rank deficiency problem of the single epoch double difference model equation composed of the observation data of double frequency carrier phase, the code observation value is applied and realized to improve the rank deficiency. It effectively avoids the ill-conditioned problem of the normal equation when the ambiguity is initialized by multiple epochs when the dual-frequency phase observations are used. 2) Real-time dynamic location requires a high timeliness of ambiguity searching and fixing strategy. In this paper, a more efficient M-LAMBDA algorithm is used to search and fix ambiguity. The validity of fixed ambiguity is tested by Ratio value. The extended Kalman filter with ambiguity parameters is applied to the solution of single epoch floating-point solution, because this method can inherit the effective information of the previous epoch well. And can effectively predict and modify the current epoch, therefore, the filtering method not only improves the accuracy of single epoch solution and prediction, but also greatly simplifies the complexity of the calculation. 4) on the basis of the theoretical and technical research of GNSS data processing. Based on the GNSS open source software package RTKLIB, a high precision quasi-real-time relative positioning program is developed, which can use the observation data of single epoch to solve the quasi-real-time positioning. The accuracy of the method can meet the needs of conventional GNSS deformation monitoring.
【学位授予单位】：长安大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：P228.4

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