GNSS周跳探测与修复的算法研究与程序实现

发布时间：2018-02-23 19:14

本文关键词： GNSS 周跳探测改进算法抗差拟合卡尔曼滤波　出处：《安徽理工大学》2016年硕士论文　论文类型：学位论文

【摘要】：高精度的GNSS测量技术是目前测量领域的一个热点问题,随着GNSS融合技术数学模型的不断完善,多系统组合定位得到了广泛的应用。目前主要的两种定位模式是相对定位和单点定位,要实现高精度的定位目标,周跳的探测与修复和模糊度的固定问题是必须解决的难点问题,周跳一直是影响载波观测值精度的主要因素之一,鉴于此,本文针对两种定位模式的数据预处理中的周跳探测及修复问题进行研究,从非差载波相位观测值和双差载波相位观测值模糊度的整周跳变问题出发,研究了目前常见GPS周跳探测方法,并作出了一些算法的改进,力求能够解决多系统情况下周跳的探测与修复问题,本文主要的研究内容如下：(1)本文改进了多项式拟合的算法,提出基于中位数先验权的逐历元滑动窗口的抗差多项式拟合算法,并利用非差观测值数据验证了算法的可行性。(2)从多系统角度出发,通过不同观测条件下的外业实测数据,验证了电离层残差法可以探测出GPS/GLONASS/BDS系统1周小周跳。(3)改进了卡尔曼滤波探测周跳的算法,提出抗差卡尔曼滤波探测周跳的算法,并验证了算法的可行性。(4)利用抗差卡尔曼滤波探测宽巷组合周跳并结合电离层残差法,实现了周跳的探测,能够满足非差观测值1周的小周跳探测。(5)从多系统角度出发,提出了周跳的探测与修复方法的选取策略。(6)利用C#编程语言,实现了非差和双差载波相位观测值周跳探测与修复的程序设计。
[Abstract]:High precision GNSS measurement technology is a hot issue in the field of measurement. With the improvement of mathematical model of GNSS fusion technology, Multi-system integrated positioning has been widely used. At present, the two main positioning modes are relative positioning and single-point positioning. The detection and repair of cycle slips and the fixing of ambiguity are difficult problems to be solved. Cycle slip is one of the main factors that affect the accuracy of carrier observations. In this paper, the cycle slip detection and repair in the data preprocessing of two positioning modes are studied. The whole cycle jump problem of the ambiguity between the non-differential carrier phase observation value and the two-difference carrier phase observation value is discussed. In this paper, the current common GPS cycle slip detection methods are studied, and some algorithms are improved to solve the problem of detecting and repairing the next week slip in multi-system cases. The main research contents of this paper are as follows: 1) the polynomial fitting algorithm is improved in this paper. Based on the median prior weight, the robust polynomial fitting algorithm for epoch-by-epoch sliding window is proposed, and the feasibility of the algorithm is verified by using non-differential observation data. The feasibility of the algorithm is verified from the multi-system point of view, and the field measured data under different observation conditions are used to verify the feasibility of the algorithm. It is verified that the ionospheric residual method can detect the small cycle slip in GPS/GLONASS/BDS system. The algorithm of detecting cycle slip by Kalman filter is improved, and the algorithm of detecting cycle slip with robust Kalman filter is proposed. The feasibility of the algorithm is verified. (4) using robust Kalman filter to detect the combined cycle slip of wide lane and the ionospheric residual method, the cycle slip detection is realized, which can satisfy the small cycle slip detection of one week non-differential observation value. The selection strategy of cycle slip detection and repair method is put forward. Using C # programming language, the program design of detecting and repairing cycle slip of non-differential and double-difference carrier phase observation values is realized.
【学位授予单位】：安徽理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：P228.4

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