单频BDS精密定位关键理论与模型研究

发布时间：2018-01-03 02:14

本文关键词：单频BDS精密定位关键理论与模型研究　出处：《中国矿业大学》2016年博士论文　论文类型：学位论文

【摘要】：北斗卫星导航系统(BDS)是我国自主研发的卫星导航定位系统,已于2012年12月27日正式提供区域服务。目前BDS高精度应用多采用三频或双频接收机,其成本较昂贵,极大限制了BDS在桥梁等大型工程监测、精细农业、人员精确定位等相关领域的发展和应用,因此研究单频BDS接收机实现高精度导航定位,不仅有利于BDS相关学科理论与技术进步,而且对BDS的推广应用也有重要的实际意义。论文针对单频BDS高精度定位中的关键问题开展研究,包括周跳探测、单历元模糊度解算、多路径误差建模和单频定位可靠性分析等等。取得的主要成果如下:(1)系统研究了常用的单频载波相位周跳探测方法,提出一种基于卡尔曼滤波的单频BDS周跳探测方法,并进行了实例验证,分析了周跳探测结果与BDS星座卫星的关系。(2)提出了一种基于最小二乘的级联单频单历元模糊度固定方法,该方法采用BDS单历元测码伪距和单频载波相位观测值组成的双差观测方程与基线长度约束方程进行最小二乘解算,获得模糊度浮点解方差-协方差阵,根据模糊度浮点解精度对双差模糊度进行(2,1,1,…,1)分级处理,基于Par Lambda算法分批次固定双差模糊度,有效提高了模糊度固定成功率和搜索效率。(3)研究了BDS三种不同卫星星座的运行周期,发现GEO卫星的轨道重复周期波动较大,同一卫星的最大波动幅度可达40秒,相比较而言MEO卫星表现的较为稳定,IGSO卫星的轨道重复周期最为稳定;GEO、IGSO卫星在任意相邻两天的运行轨迹均具有较好的重复性,而对MEO卫星来说,在相邻两天没有任何相关性,却与相隔7天的运行轨迹表现出了极强的相关性。(4)利用单差残差法提取出相邻两天、间隔7天中同一时段内可见卫星的单差残差,同一卫星的单差残差在相邻两天最大互相关系数出现位置与该卫星的轨道运行重复周期的时间提前量一致的,提取的多路径误差的周期性与卫星的轨道运行重复周期的时间提前量保持一致。(5)提出了以MDB为模型误差计算有偏估计成功率并对模糊度解算的正确性进行评价,分别以码观测和相位观测进行了仿真实验,表明亚太地区BDS固定成功率高于GPS系统,同时得出了存在码观测MDB和相位观测MDB等情形时的有偏估计成功率大小的规律。
[Abstract]:Beidou Satellite Navigation system (BDS) is a self-developed satellite navigation and positioning system in China. In December 27th 2012, the area service has been officially provided. At present, BDS high-precision applications mostly use three-frequency or dual-frequency receiver, which is more expensive, which greatly limits the monitoring of BDS in bridges and other large-scale projects. The development and application of precision agriculture, precise positioning of personnel and other related fields, so the study of single-frequency BDS receiver to achieve high-precision navigation and positioning, is not only conducive to the theory and technical progress of BDS related disciplines. And it has important practical significance for the popularization and application of BDS. This paper focuses on the key problems in high-precision positioning of single-frequency BDS, including cycle slip detection, ambiguity resolution of single epoch. Multi-path error modeling and reliability analysis of single-frequency positioning. The main achievements are as follows: 1) the commonly used single-frequency carrier phase cycle slip detection methods are studied in this paper. A single frequency BDS cycle slip detection method based on Kalman filter is proposed and verified by an example. The relationship between the cycle slip detection results and the BDS constellation satellite is analyzed. A method based on least squares is proposed to fix the ambiguity of single epoch of cascaded single frequency. In this method, the two-difference observation equation composed of the pseudo-range of BDS single epoch code and the observation value of single-frequency carrier phase and the baseline length constraint equation are used to solve the least square solution, and the variance-covariance matrix of ambiguity floating point solution is obtained. According to the precision of the floating-point solution of ambiguity, the double difference ambiguity is classified and fixed in batches based on Par Lambda algorithm. Effectively improve the ambiguity fixed success rate and search efficiency. (3) studied the BDS three different satellite constellation operation cycle, found that the GEO satellite orbit repeat cycle fluctuations are large. The maximum fluctuation range of the same satellite can reach 40 seconds. Compared with the MEO satellite, the orbit repetition period of the MEO satellite is the most stable. The orbit of GEO-IGSO satellite has good repeatability in any two adjacent days, but for MEO satellite, there is no correlation between the two adjacent days. However, it shows a strong correlation with the track of 7 days.) using the single difference residual method, the single difference residuals of the satellite can be seen in the same time period of the adjacent two days and the interval of 7 days. The position of the single difference residuals of the same satellite at the maximum number of mutual relations between two adjacent days is the same as the time advance of the repeat period of the orbit of the same satellite. The periodicity of the extracted multipath error is consistent with the time advance of the repeated period of orbit operation of the satellite. The success rate of biased estimation based on MDB model error calculation is proposed and the correctness of ambiguity resolution is evaluated. Simulation experiments with code observation and phase observation show that the success rate of BDS fixation in Asia-Pacific region is higher than that of GPS system. At the same time, the law of the success rate of biased estimation in the presence of code observation MDB and phase observation MDB is obtained.
【学位授予单位】：中国矿业大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TN967.1;P228

【相似文献】