多模定位及RAIM算法研究

发布时间：2018-05-09 22:09

本文选题：GNSS + 多模定位　；参考：《辽宁工程技术大学》2013年硕士论文

【摘要】：本文在全球导航卫星系统(Global Navigation Satellite System,GNSS)迅猛发展以及北斗系统(BDS)覆盖亚太地区的大背景下,对多模定位的理论和方法进行了研究,其次对接收机自主完好性监测(RAIM)算法进行了研究。在理论介绍的基础上,依托河北省连续运行参考站系统(HBCORS)搭建BDS/GPS区域试验网,并采用该网提供的BDS/GPS数据,进行了实时和事后的计算分析,主要工作概括如下： (1)介绍了GPS、GLONASS、Galileo系统以及BDS四个全球导航卫星系统概况,对比四个全球导航卫星系统在频率、信号和构建方面的异同。介绍了定位过程中误差产生的来源,以及本文中消除电离层误差、对流层误差、卫星钟差、接收机钟差和多路径效应误差的具体方法。 (2)介绍了各个全球导航卫星系统的时间系统和坐标系统,指出GNSS多模定位过程中必须解决的主要问题,时间统一和空间统一。根据GPS单点定位原理以及不同类型卫星(GEO、MEO、IGSO)位置计算的方法推到出GNSS多模定位的原理和观测数学模型,在此基础上推导GNSS多模差分定位模型。 (3)根据BDS/GPS区域试验网提供的数据,采用GNSS定位模型算法,计算点位坐标、几何精度因子(GDOP),对比伪距单点定位和差分定位下,不同导航卫星系统(BDS、GPS和BDS/GPS)定位精度,比较分析BDS性能优缺点,得到一些有益结论。 (4)介绍了RAIM的基本概念、聚类分析的思想和相关距离的思想,以及基于聚类分析思想和相关距离的思想来改进RAIM算法的方法,并以实际数据计算结果作为论证支持。 (5)将以上研究内容在C++开发平台上实现程序化设计,其中部分模块可以良好的嵌入BDS/GPS实时通讯系统中,实现实时定位解算。
[Abstract]:In this paper, the theory and method of multi-mode positioning are studied under the background of the rapid development of Global Navigation Satellite system GNSS and Beidou system (BDSs) covering the Asia-Pacific region. Secondly, the receiver autonomous integrity monitoring (Ram) algorithm is studied. Based on the introduction of the theory, the BDS/GPS regional test network is built based on the continuous operation reference station system of Hebei province, and the BDS/GPS data provided by the network are used to calculate and analyze it in real time and afterwards. The main work is summarized as follows: This paper introduces the general situation of GPS GLONASS Galileo system and BDS four global navigation satellite systems, and compares the similarities and differences between the four global navigation satellite systems in frequency, signal and construction. This paper introduces the source of the errors in the positioning process, and the methods of eliminating the ionospheric errors, tropospheric errors, satellite clock errors, receiver clock errors and multipath effect errors in this paper. This paper introduces the time system and coordinate system of each global navigation satellite system, and points out the main problems that must be solved in the process of GNSS multi-mode positioning, namely, the unification of time and space. According to the principle of GPS single point positioning and the method of calculating the positions of different types of satellites, the principle and observation mathematical model of GNSS multimode positioning are deduced. On this basis, the multimode differential positioning model of GNSS is deduced. According to the data provided by the BDS/GPS regional test network, using the GNSS positioning model algorithm, the point coordinates and geometric precision factors are calculated. The positioning accuracy of different navigation satellite systems is compared under pseudo-range single point positioning and differential positioning. The advantages and disadvantages of BDS are compared and some useful conclusions are obtained. This paper introduces the basic concept of RAIM, the idea of clustering analysis and the thought of correlation distance, and the method of improving RAIM algorithm based on the idea of clustering analysis and the thought of correlation distance. 5) the above research contents are programmed on C development platform. Some of the modules can be well embedded in the BDS/GPS real-time communication system to realize the real-time positioning solution.
【学位授予单位】：辽宁工程技术大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：P228.4

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