基于多导航卫星系统的精密单点定位模型与方法研究

发布时间：2019-02-27 19:16

【摘要】：GNSS精密单点定位利用单台接收机在全球范围可直接获得分米级至厘米级的实时动态定位结果和毫米级的静态定位结果。随着四大导航卫星系统的建立与发展,基于多导航卫星系统及其组合的精密单点定位成为了研究热点。借鉴已有的GNSS精密单点定位的模型与方法,开展多导航卫星系统及其组合精密单点定位研究,缩短收敛时间,提高实时快速定位精度。系统研究了基于多导航卫星系统的精密单点定位数据处理理论、模型、方法和关键技术。在卫星导航综合处理软件(Position And Navigation Data Analyst, PANDA)的基础上实现了多导航卫星系统的精密单点定位。 (1)深入研究了精密单点定位的基础理论,包括GNSS精密单点定位中涉及到的时空框架及其转换、GNSS基本观测值及其组合以及观测方程的线性化。 (2)详细分析了GNSS定位中不同类型误差的特性及其改正方法。对单导航卫星系统的精密单点定位模型进行了深入研究,并针对GLONASS系统中与频率有关的硬件延迟的特性,建立了顾及其改正的观测模型。基于单系统定位模型推导了多导航卫星系统组合的精密单点定位模型。 (3)系统研究了GNSS精密单点定位数据质量控制方法和参数估计法,主要涉及周跳探测、粗差剔除以及最小二乘法和卡尔曼滤波。 (4)利用IGS站的GPS和GLONASS双系统观测数据以及ESA提供的精密星历和钟差,采用GPS、GPS/GLONASS组合和GLONASS三种定位方式分别进行静态、后处理动态和模拟实时动态三种模式的精密单点定位实验。研究结果表明：三种定位方式重复性定位精度,在静态模式下,平面精度达1～2mm,高程精度达2～3mm；在后处理动态模式下,平面精度达1～2cm,高程精度达2～3cm；在模拟实时动态模式下,定位结果收敛后,平面精度达1～3cm,高程精度达3～5cm。其中,GPS/GLONASS组合较单系统显著提高了定位精度,在短时间定位以及动态定位中,提高幅度更大。将IGS周解作为参考值时,GLONASS高程方向存在明显的系统偏差。在实时动态定位收敛时间方面,若要在三个方向上均获得10cm以上的定位精度,单系统的收敛时间为50分钟左右；GPS/GLONASS组合的收敛时间为20分钟左右。因此,GPS/GLONASS组合较单系统显著缩短了收敛时间,提高了实时快速定位精度。 (5)基于GFZ提供的北斗精密星历和钟差,利用实测的北斗观测数据,进行了精密单点定位实验。研究结果表明：北斗重复性定位精度,在静态模式下,East、North和Up方向定位精度分别达5.9mm、1.2mm和4.5mm；在后处理动态模式下,平面精度达1-2cm,高程精度达4～5cm；在模拟实时动态模式下,定位结果收敛后,平面精度达1～2cm,高程精度达5～6cm；以定位精度达到10cm为收敛,East和Up方向的收敛时间为100分钟左右,North方向的收敛为50分钟左右。将GPS单天解作为参考值时,北斗高程方向存在明显的系统偏差。
[Abstract]:GNSS precise point positioning can directly obtain real-time dynamic positioning results from decimeter to centimeter level and static positioning results at millimeter level using a single receiver in the global range. With the establishment and development of four navigation satellite systems, precise single-point positioning based on multi-navigation satellite system and its combination has become a research hotspot. Based on the existing models and methods of GNSS precise single-point positioning, the research on multi-navigation satellite system and its combination precise single-point positioning is carried out, which shortens the convergence time and improves the real-time and fast positioning accuracy. The theory, model, method and key technology of precise single-point positioning data processing based on multi-navigation satellite system are systematically studied. On the basis of satellite navigation integrated processing software (Position And Navigation Data Analyst, PANDA), the precise single point positioning of multi-navigation satellite system is realized. The main contents of this thesis are as follows: (1) the basic theory of precise point positioning is deeply studied, including the space-time frame and its transformation involved in GNSS precise point positioning, the basic observations of GNSS and their combination, and the linearization of observation equations. (2) the characteristics and correction methods of different types of errors in GNSS positioning are analyzed in detail. In this paper, the precise single point positioning model of single navigation satellite system is deeply studied. According to the characteristics of frequency-related hardware delay in GLONASS system, an observation model is established, which takes into account the frequency-related hardware delay. Based on the single-system positioning model, the precise single-point positioning model of multi-navigation satellite system is derived. (3) the quality control method and parameter estimation method of GNSS precise single-point positioning data are studied systematically, including cycle-slip detection, gross error elimination, least square method and Kalman filter. (4) using the GPS and GLONASS dual-system observation data of IGS station and the precise ephemeris and clock error provided by ESA, the static state is carried out by the combination of GPS,GPS/GLONASS and the positioning method of GLONASS, respectively. Post-processing dynamic and simulation real-time dynamic three modes of precision single-point positioning experiment. The results show that in static mode, the accuracy of plane and elevation is up to 1? 2 mm and 2? 3 mm respectively, and in the dynamic mode of post-processing, the accuracy of plane and height is 1? 2 cm and 2? 3 cm, respectively. In the simulated real-time dynamic mode, after the convergence of the positioning results, the plane precision is 1? 3 cm, and the elevation precision is 3? 5 cm. Among them, the GPS/GLONASS combination significantly improves the positioning accuracy compared with the single system, and in the short-time positioning and dynamic positioning, the range of improvement is greater than that of the single system. When the IGS weekly solution is taken as the reference value, there is obvious systematic deviation in the GLONASS elevation direction. In the aspect of real-time dynamic positioning convergence time, the convergence time of single system is about 50 minutes and the convergence time of GPS/GLONASS combination is about 20 minutes if the accuracy of 10cm is more than 50 minutes in all three directions. Therefore, the convergence time of the GPS/GLONASS combination is significantly shorter than that of the single system, and the real-time fast positioning accuracy is improved. (5) based on the precise ephemeris and clock error of Beidou provided by GFZ, the precise point positioning experiment is carried out by using the observed data of Beidou. The results show that in static mode, the orientation accuracy of East,North and Up is 5.9 mm, 1.2 mm and 4.5 mm, respectively, and the repeatability accuracy of Beidou is 5.9mm, 1.2mm and 4.5mm respectively in static mode. In the post-processing dynamic mode, the plane precision is up to 1 ~ 2 cm, the elevation precision is up to 4 ~ 5 cm, and in the real-time dynamic mode of simulation, the plane precision is 1 ~ 2 cm and the elevation precision is 5 ~ 6 cm after the positioning result converges. The convergence time in the direction of East and Up is about 100 minutes and that of North is about 50 minutes when the precision of location reaches 10cm. The convergence time is about 100 minutes in East and Up directions and 50 minutes in North direction. When the GPS single-day solution is taken as the reference value, there is obvious systematic deviation in the elevation direction of Beidou.
【学位授予单位】：辽宁工程技术大学
【学位级别】：博士
【学位授予年份】：2013
【分类号】：P228.4

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