多星座CORS混合观测网络实时位置服务关键技术研究

发布时间：2018-05-16 19:05

本文选题：多星座 + 混合观测网络　；参考：《西南交通大学》2016年博士论文

【摘要】：随着GNSS技术在地球物理、大地测量等方向的深入研究和应用,国内以中国大陆构造环境监测网络和各省级CORS为代表的各行业和区域CORS网络相继建成,并已覆盖我国大部分地区。CORS站已经成为空间数据基础设施的重要组成部分,并激起了广域范围厘米级实时位置服务研究热潮；但是由于应用目标的差异,各CORS对GNSS接收机设备、网络通讯环境等的建设标准不一,以网络RTK应用为代表的CORS网实时服务相关应用很少将不同CORS网混合应用。近年来,中国北斗卫星导航系统组网不断完善,GPS/BDS/GLONASS三星系统目前在亚太地区平均可观测的GNSS卫星数已经多于25颗。为了进一步改善COR S站观测质量和位置服务能力,部分CORS网正在或者正准备对现有站点进行BDS升级,而其他CORS网出于建设成本和应用目的考虑,未进行或者只对部分站点进行了升级。这种测站间可用星座的差异进一步加大了多星座CORS观测网混合应用的难度。随着物联网的深入发展,支持广域范围、海量用户的分米级和厘米级高精度位置服务需求越趋强烈；《国家卫星导航产业中长期发展规划》也明确指出,到2020年,我国的卫星导航产业规模将超过4000亿元。届时,单独依靠某个部门的资源将很难满足产业需求,整合现有CORS资源已经成为当前GNSS位置服务产业发展的主要课题。然而,实际应用情况不容乐观。首先,目前仍然缺乏一套有效管理所有CORS站的方案；其次,现有的网络RTK服务系统在接收机和天线多样化、通讯和观测条件复杂的混合观测网应用中的表现并不理想,且在兼容BDS网络RTK服务方面仍有不足。相关课题仍需进一步研究。为了适应当前GNSS位置服务产业发展,加强BDS/CORS网络实时位置服务应用,本文围绕多星座CORS混合观测网络实时位置服务中涉及的GNSS观测模型与误差分析、混合观测网的组网与解算策略、VRS技术和GNSS观测网络位置服务的性能监测等关键技术进行了深入研究,并取得了部分成果,可以为多星座CORS混合观测网应用提供了理论参考。文中首先结合GNSS各星座系统、国内CORS观测网,以及实时位置服务技术的发展现状,阐述了多星座观测网络位置服务实现的可行性；根据当前我国GNSS技术革新与产业升级的现实需求,论述了多星座CORS混合观测网络理论研究的现实意义；并进一步概括了多星座观测网位置服务相关技术现状,及其在大型混合观测网和海量用户服务环境下的不足。在此基础上,论文主体由GNSS观测模型展开,详细介绍了GNSS观测方程及观测值的线性组合；并基于GNSS相对定位几何模型,提出了一种新的GNSS相对定位解算模型,该模型具有最小二乘解算过程中系数阵保持不变的特性,在多星座GNSS相对定位时的解算效率将明显优于传统的一阶泰勒展开式模型。围绕双差观测中的空间距离相关误差和非空间距离相关误差,详细描述了各项误差的特性,并针对厘米级RTK定位需求介绍了相应的处理方案。值得一提的是,双差电离层的时空特性显示,即使在低纬度地区,夜间12点到次日8点期间电离层变化稳定,对双差观测的影响在1IDU左右,可以忽略其对宽巷组合观测的影响；根据这个特点,有助于处理硬件延迟和多路径延迟等与频率相关的误差。在观测网络的组网方面,针对多星座CORS混合观测网内各CORS站支持的GNSS星座存在差异,提出了按星座系统构网解算和生成虚拟观测值的思路,可有效避免各星座产生服务盲区；同时,为快速添加参考站,改善区域RTK服务质量,提出了基于GNSS观测网现有空间误差改正模型,快速解算新增站点精确坐标的方法,可以与中央差分技术结合提高站点的坐标解算效率；并提出了CORS网型结构因子的概念,针对空间误差改正,定量地描述参考站网络的网形结构对网络RTK定位性能的影响,对于CORS网优化和网络RTK服务性能评价给出了理论和实用化的技术指标。在网络解算方面,提出了基于宽巷组合综合误差改正模型,快速确定宽巷模糊度的方法。针对CRTN、JDCORS和HKCORS分别代表的中纬度沿海地区、中纬度内陆地区和低纬度地区进行试验分析,结果显示测试区域的宽巷组合综合误差的内插精度优于0.3周,只需少量测站即可满足全网宽巷组合综合误差的内插需要。采用该方法,GNSS混合观测网中只需要考虑部分测站的伪距多路径和GLONASS伪距频问偏差影响,可以有效提高CORS网络解算效率和可靠性,降低观测网其他测站的伪距质量要求,降低GNSS观测网的建设成本。为适应海量用户需求,提出了虚拟单基站网络的服务模式,可以与普通单基站应用兼容。实验以站间距所引起的基线分量误差小于1cm2为例,得到JDCORS和HKCORS两个CORS网的虚拟单基站的站间距分别可以达到3公里(南北方向)、4公里(东西方向)和0.2公里(南北方向)、2公里(东西方向),从而只需构建少量的虚拟单基站即可满足服务需求。在CORS网位置服务性能检测方面,结合时滞分析和形态学滤波提出了一种三差残差预测方法,可监测地表突变对CORS网位置服务坐标框架的影响。利用2013年芦山Ms7.0级地震期间四川省地震局GNSS观测网的部分测站数据进行模式实时监测,结果显示该方法可以快速感知水平方向小于10mm、垂向方向小于20mm的测站突变。文章最后结合实际应用分别介绍了课题组自主研发的“基站管理与服务系统”和多星座GNSS网络RTK服务系统(VENUS)。相关实验表明,VENU S在GPS+GLONASS服务下与国际上同类的性能相当,但在联合BDS的网络RTK服务下,极大地提升了复杂环境下流动站的固定率,同时实验也验证了BDS网络RTK定位质量与GPS相当。
[Abstract]:With the deep research and application of GNSS technology in geophysics and geodetic measurement, various industries and regional CORS networks, represented by the China continental tectonic environment monitoring network and the provincial CORS, have been built in China, and the.CORS stations in most of our country have become an important part of the space data infrastructure. The research upsurge of the wide area centimetre real-time location service has been developed. However, because of the difference of the application targets, the CORS has different construction standards on the GNSS receiver equipment and the network communication environment, and the CORS network real-time service related applications represented by the network RTK application will not be mixed with the different CORS networks. In recent years, the Chinese Beidou satellite navigation In order to further improve the observation quality and location service capability of the COR S station, some CORS networks are or are preparing to upgrade the existing sites for BDS, and the other CORS networks are for construction costs and application purposes. The GPS/BDS/GLONASS Samsung system has more than 25 observable GNSS satellites in the Asia Pacific region. Considering, no or only part of the site has been upgraded. The difference between constellations can further increase the difficulty of the multi constellation CORS observation network. With the development of the Internet of things, support for the wide area, the more intense the demand for high precision location services for the mass users at the meter and centimeter level; < National Satellite guide? The medium and long term development plan of the aviation industry also clearly points out that by 2020, China's satellite navigation industry will be more than 400 billion yuan. By then, it will be difficult to meet the industrial demand by relying on the resources of a certain department alone. The integration of existing CORS resources has become the main subject of the current GNSS position service industry development. However, the actual application situation is not happy. First, there is still a lack of a scheme to effectively manage all CORS stations. Secondly, the existing network RTK service system is not ideal in the variety of receiver and antenna, and the performance of the complex observation network with complex communication and observation conditions is not ideal, and there are still shortcomings in the compatibility of BDS network RTK services. In order to adapt to the development of GNSS position service industry and strengthen the application of real-time location service of BDS/CORS network, this paper focuses on the GNSS observation model and error analysis involved in the real-time location service of the multi constellation CORS hybrid observation network, the networking and solving strategy of the mixed observation network, the performance monitoring of the VRS technology and the GNSS observation network position service. The key technology has been studied deeply, and some results have been obtained, which can provide theoretical reference for the application of multi constellation CORS hybrid observation network. Firstly, the feasibility of the implementation of the multi constellation network location service is expounded with the development status of the GNSS constellation system, the domestic CORS observation network and the real-time location service technology. The practical needs of GNSS technology innovation and industrial upgrading in our country, and the practical significance of the research on the theory of multi constellation CORS hybrid observation network are discussed, and the status of the location service related technology of the multi constellation observation network is further summarized, and the shortcomings of the large mixed observation network and mass user service ring are also summarized. On this basis, the main body of the paper is GN The SS observation model is carried out, and the linear combination of the GNSS observation equation and the observation value is introduced in detail. Based on the GNSS relative positioning geometric model, a new GNSS relative positioning solution model is proposed. The model has the constant characteristic of the coefficient matrix in the least square solution process, and the calculation efficiency will be obvious in the relative positioning of the multi constellation GNSS. Compared with the traditional first order Taylor expansion model, the spatial distance correlation error and the non spatial distance correlation error are described in detail, and the corresponding processing schemes are introduced for the centimeter level RTK positioning requirement. It is worth mentioning that the spatio-temporal characteristics of the double difference ionosphere display even at low latitudes. The ionosphere is stable during the period from 12 to 8 in the night, and the influence on the double difference observation is around 1IDU, and the influence on the combination observation of the wide lane can be ignored. According to this characteristic, it is helpful to deal with the errors related to the hardware delay and the multipath delay. In the networking of the observation network, the mixed observation of the multi constellation CORS There are differences in the GNSS constellations supported by the CORS stations in the network. The idea of solving and generating virtual observation values according to the constellation system is proposed, which can effectively avoid the blind area of each constellation. At the same time, to quickly add reference stations and improve the quality of regional RTK service, a new model based on the existing spatial error correction based on the GNSS network is proposed. The method of increasing the exact coordinates of the site can combine with the central difference technique to improve the efficiency of the coordinate calculation of the site. The concept of the CORS network structure factor is proposed. In view of the spatial error correction, the influence of the network structure of the reference station network on the positioning performance of the network RTK is quantitatively described, and the CORS network optimization and the performance evaluation of the network RTK service are evaluated. The theoretical and practical technical indexes are given. In the aspect of network calculation, a method based on the comprehensive error correction model of the wide lane combination is proposed to quickly determine the width of the wide alley. The experimental analysis is carried out for the mid latitude coastal areas, the mid latitudes inland areas and the low latitude regions, which are represented by CRTN, JDCORS and HKCORS respectively, and the results show the test area. The interpolation accuracy of integrated error of wide lane combination is better than 0.3 weeks. Only a small number of stations can meet the interpolation needs of the integrated error of wide roadway combination. In this method, the GNSS hybrid observation network only needs to consider the influence of the pseudo distance multipath and the GLONASS pseudo range frequency question, which can effectively improve the efficiency and reliability of the CORS network solution. In order to reduce the construction cost of the GNSS observation network and reduce the construction cost of the other stations in the observation network, the service mode of the virtual single base station network is proposed to meet the needs of the massive users. It can be compatible with the ordinary single base station application. The experiment takes the baseline error of the baseline distance of the station spacing less than 1cm2 as an example, and the two CORS networks of JDCORS and HKCORS are obtained. The station spacing of the virtual single base station can reach 3 km (North and South), 4 km (East and West) and 0.2 km (North and South) and 2 km (East and West), so only a small number of virtual single base stations can be built to meet the service requirements. A kind of time delay analysis and morphological filtering is proposed in the aspect of location service ability detection of CORS network. The three difference prediction method can monitor the influence of surface catastrophe on the coordinate frame of CORS network position service. Using the data of the GNSS observation network of Sichuan Seismological Bureau of Sichuan Province during the 2013 Lushan earthquake, the model can be monitored in real time. The result shows that the method can quickly perceive the station with the horizontal direction less than 10mm and the vertical direction less than 20mm. At the end of the paper, the paper introduces the "base station management and service system" and the multi constellation GNSS network RTK service system (VENUS), which are independently developed by the project group. The related experiments show that VENU S is equivalent to the same kind in the world under the GPS+GLONASS service, but it greatly improves the complexity under the network RTK service of the joint BDS. The fixed rate of mobile stations in the environment is also verified. The experiment also proves that the RTK positioning quality of BDS network is equivalent to that of GPS.
【学位授予单位】：西南交通大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：P228.4

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