基于大范围CORS网的GNSS实时定位算法研究

发布时间：2018-09-10 10:41

【摘要】：以长距离网络RTK算法为主的基于大范围CORS网的区域增强系统,不仅可以减少建设基准站网的成本,而且可以解决建设基准站比较困难地方的网络RTK系统建设问题。本文对长距离网络RTK算法的定位理论和各类误差处理方法做了系统的介绍和研究,首先研究和解决了长距离(测站间距一般100-200km)基准站整周模糊度的确定问题,然后进行高精度区域误差模型的建立、观测值误差改正数的计算及流动站观测误差的改正,进而研究了流动站整周模糊度的动态解算方法,最后对本文的算法进行程序实现,并使用实测数据进行算法实验。本文的主要研究内容和成果有：(1)讨论了基于大范围CORS网的GNSS实时定位的有关理论基础,包括GNSS载波相位和伪距观测值及其观测方程、GNSS定位观测方程的线性化。介绍了GNSS定位中各种误差的特性及其误差处理方法,重点分析介绍了网络RTK定位中对各种误差的处理方法,主要是与距离相关性较强的GNSS卫星轨道误差、电离层延迟误差和以对流层延迟为主的中性大气延迟误差的处理方法。(2)深入研究了基于大范围CORS网的GNSS实时定位算法的整周模糊度确定理论和算法,在此基础上提出了长距离基准站间整周模糊度的快速解算算法。重点研究了长距离基准站所包含的较大区域范围内的误差处理方法和观测值的误差改正理论。在长距离基准站整周模糊度固定的基础上,详细地介绍了利用综合误差改正的方法计算较大区域范围内误差改正数。研究了常用的整周模糊度解算方法,提出了流动站整周模糊度的解算方法。(3)对本文提出的算法使用C++编程语言进行程序实现和软件编制。使用实测CORS网的观测数据对各算法进行实验检验和结果分析,流动站用户能够得到厘米级定位结果,证明了本文算法具有很好的可用性。
[Abstract]:The area enhancement system based on large range CORS net, which is based on the RTK algorithm of long distance network, can not only reduce the cost of constructing reference station network, but also solve the problem of network RTK system construction where the construction of reference station is difficult. In this paper, the localization theory and error processing methods of RTK algorithm for long distance networks are systematically introduced and studied. Firstly, the problem of determining the integer ambiguity of long distance (general 100-200km) reference stations is studied and solved. Then, the establishment of high-precision region error model, the calculation of error correction of observation value and the correction of observation error of mobile station are carried out, and the dynamic calculation method of integer ambiguity of mobile station is studied. Finally, the algorithm of this paper is realized by program. The algorithm experiment is carried out with the measured data. The main contents and achievements of this paper are as follows: (1) the theoretical basis of GNSS real-time positioning based on large-scale CORS nets is discussed, including the linearization of GNSS carrier phase and pseudo-range observations and their observation equations. This paper introduces the characteristics of various kinds of errors in GNSS positioning and their error handling methods, and emphatically analyzes the processing methods of various errors in network RTK positioning, mainly the orbit errors of GNSS satellites which have strong correlation with distance. The methods of dealing with ionospheric delay error and neutral atmospheric delay error with tropospheric delay are discussed. (2) the whole cycle ambiguity determination theory and algorithm of GNSS real-time location algorithm based on large range CORS nets are studied in depth. On this basis, a fast algorithm for calculating integer ambiguity between long distance reference stations is proposed. The error processing method and the error correction theory of the observed values in a large area included by the long distance reference station are studied. Based on the fixed integer ambiguity of the long distance reference station, the method of comprehensive error correction is introduced in detail to calculate the error correction in a large area. In this paper, the commonly used integer ambiguity resolution method is studied, and the calculation method of the whole cycle ambiguity in the mobile station is proposed. (3) the algorithm proposed in this paper is programmed and programmed with C programming language. Using the observed data of CORS net to test and analyze the results of each algorithm, the mobile station users can get the centimeter level positioning results, which proves that the algorithm in this paper has good usability.
【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】：2014
【分类号】：P228.4

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