动态GPS精密单点定位方法研究

发布时间：2018-03-07 08:13

本文选题：动态精密单点定位　切入点：误差分析　出处：《解放军信息工程大学》2013年硕士论文　论文类型：学位论文

【摘要】：动态GPS精密单点定位方法能在全球范围内连续独立地提供高精度的坐标信息，其无需基准站的特点有效解决了双差测量中解算精度受基线长度影响的限制，其应用领域正在快速扩展。本论文对动态GPS精密单点定位理论和方法开展研究，论述了精密单点定位数学模型和统计模型，对误差改正模型及误差影响进行了详细的研究，针对动态定位中经常出现的周跳，提出了使用改进的最小二乘搜索法进行短时段的周跳的修复，研究了动态GPS精密单点定位算法，编写了动态GPS精密单点定位软件，通过与商用软件的比对分析，验证了软件的正确性。论文的主要结论有以下几点： 1.在理论上，推导了误差对定位结果影响的误差传播公式。并通过实验分析了各项误差源对定位结果的影响大小。实验表明， Sagnac效应对定位结果影响为20-30m，DCB等其他各项误差的影响也达到厘米级以上，因此在动态GPS精密单点定位中需对DCB误差加以考虑，并需要精密的误差模型对各项误差进行改正。 2.分析了电离层残差法、伪距载波相位组合法和TurboEdit方法在动态GPS精密单点定位中的周跳探测效果。提出改进的最小二乘搜索法用于周跳修复，并通过实验成功修复了短时周跳。 3.自主研制了动态GPS精密单点定位软件，给出了滤波算法中各参数的经验值。并依据平滑估计理论中的Rauch-Tung-Striebel公式，对软件中使用的二次滤波算法进行了理论验证。 4.通过对航空、车载、航海三种不同方式的实验数据解算，并将解算结果与GrafNav软件的双差定位解算结果相比，验证了软件的正确性，实现了厘米-分米级动态定位，认为该软件在算法上达到与商业软件相当的水平。 5.实验分析表明，使用二次滤波方法，可以提高初始坐标精度，非常有效地减少收敛时间。而通过降低卫星高度截止角、提高采样频率，也能一定程度地减少收敛时间。
[Abstract]:The dynamic GPS precise single point positioning method can provide high precision coordinate information continuously and independently in the global range. Its characteristic of no reference station can effectively solve the limitation of the solution accuracy affected by the baseline length in the double difference measurement. In this paper, the theory and method of dynamic GPS precise single point positioning are studied, the mathematical model and statistical model of precision single point positioning are discussed, and the error correction model and error influence are studied in detail. In view of the cycle slip that often occurs in dynamic positioning, the improved least square search method is proposed to repair the short period cycle slip. The dynamic GPS precise single point positioning algorithm is studied, and the dynamic GPS precise single point positioning software is developed. The correctness of the software is verified by comparison and analysis with commercial software. The main conclusions of the paper are as follows:. 1. Theoretically, The error propagation formula of the effect of error on the positioning result is derived, and the influence of each error source on the location result is analyzed experimentally. The experiment shows that the influence of Sagnac effect on the location result is 20-30 mb and other errors. The sound also reached the centimeter level above, Therefore, in dynamic GPS precise single point positioning, the DCB error should be considered, and the precision error model should be used to correct each error. 2. The cycle slip detection effect of ionospheric residual method, pseudo-range carrier phase combination method and TurboEdit method in dynamic GPS precise single point positioning is analyzed. An improved least square search method is proposed for cycle slip repair, and the short-time cycle slip is successfully repaired through experiments. 3. The dynamic GPS precise single point positioning software is developed, and the experience values of the parameters in the filtering algorithm are given. The quadratic filtering algorithm used in the software is verified theoretically according to the Rauch-Tung-Striebel formula in the smoothing estimation theory. 4. The correctness of the software is verified by calculating the experimental data of aviation, vehicle and navigation in three different ways, and comparing the results with that of GrafNav software, and realizing the centimeter-decimeter dynamic positioning. It is considered that the algorithm of this software is equivalent to that of commercial software. 5. The experimental results show that the accuracy of the initial coordinates can be improved by using the quadratic filtering method, and the convergence time can be reduced to a certain extent by reducing the cut-off angle of satellite altitude and increasing the sampling frequency.
【学位授予单位】：解放军信息工程大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：P228.4

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