基于GALILEO及GPS-GALILEO组合系统的仿真分析

根据GALILEO卫星系统的设计参数，建立了卫星运动方程，编制了GALILEO系统的星座仿真软件：并结合GPS系统，以中国地壳运动观测网的25个基准站为地面观测站，对大陆范围内基于GPS、GALILEO以及GALILEO—GPS组合系统进行单点定位时的卫星可见性和给定精度下的定位可信度进行了系统的分析。仿真结果表明，在中国大陆范围内，GALILEO系统在时间域和空间域上的整体稳定性优于GPS系统。在一定的定位精度要求下，二者的平面定位可信度基本一致，GALILEO的高程定位可信度优于GPS系统；组合的GPS—GALILEO系统无论在卫星可见性方面，还是在定位可信度方面，均优于单一的定位系统。     

GPS技术开发应用概况和展望

全球定位系统GPS是美国继阿波罗登月飞船和航天飞机之后第三大航天工程。它的建成将对现代科学技术尤其是航天技术各领域产生深远影响。本文全面论述GPS的现状和展望它的未来,包括:(1)GPS现状、计划和美国政府的政策;(2)GPS定位、授时原理和误差概述;(3)GPS用户接收机研制、生产和市场概况;(4)国内外航天领域GPS定位技术开发应用概况;(5)国内外航天领域GPS授时技术开发应用概况;(6)展望未来GPS技术和我们可以采取的对策。文末附录扼要地介绍了苏联全球导航卫星系统(GLONASS)概况。     

High-precision Positioning and Deformation Monitoring Analysis of BD/GPS Based on Improved Kalman Filter Fusion

The real time kinematic of global positioning system(GPS-RTK) provides precise positioning for bridge deformation monitoring and monitoring bridge health status. In order to solve the problem that the satellite signal is vulnerable to the influence of the positioning environment when monitoring bridges in the valleys and urban buildings~([1]), and the problem that Kalman fusion algorithm is difficult to detect the divergence caused by interruption or wrong data~([2]). This paper proposes an improved Kalman filter fusion position method based on the BD/GPS fusion positioning. This improved algorithm introduces the environmental information. The confidence level is calculated with membership function by defining the confidence region of sensor, so as to the fusion weight coefficient is determined. This paper analyzes the performance of BD/GPS positioning in bridge monitoring through comparing the traditional fusion method with the improved fusion method. Experiments show that the improved algorithm eliminates the problem of error divergence; the average number of visible satellites in BD/GPS fusion positioning is increased by 7 compared with that of GPS single system positioning,the GDOP value is reduced by 21.83%, and the positioning error is reduced by 2.51 cm. The feasibility of all-weather monitoring in the mountains, buildings and other areas is verified, and millimeter accuracy is provided, which greatly improves the performance of bridge deformation monitoring.     

Accuracy improvement of GPS/MEMS-INS integrated navigation system during GPS signal outage for land vehicle navigation

To improve the reliability and accuracy of the global positioning system (GPS)/micro electromechanical system (MEMS)inertial navigation system (INS) integrated navigation system,this paper proposes two different methods.Based on wavelet threshold denoising and functional coefficient autoregressive (FAR) modeling,a combined data processing method is presented for MEMS inertial sensor,and GPS attitude information is also introduced to improve the estimation accuracy of MEMS inertial sensor errors.Then the positioning accuracy during GPS signal short outage is enhanced.To improve the positioning accuracy when a GPS signal is blocked for long time and solve the problem of the traditional adaptive neuro-fuzzy inference system (ANFIS) method with poor dynamic adaptation and large calculation amount,a self-constructive ANFIS (SCANFIS) combined with the extended Kalman filter (EKF) is proposed for MEMS-INS errors modeling and predicting.Experimental road test results validate the efficiency of the proposed methods.     

用GPS和集群通信组成动态指挥调度系统

ＧＰＳ（全球定位系统）是应用广泛的定位、导航系统，集群通信系统是专用业务移动通信网发展的高级形式，将ＧＰＳ与集群通信相结合组成动态指挥调度系统是一个实现车辆动态监控的优选方案。本文探讨了这种方案，给出了实验系统设计。     

在高度保持模式下提高GPS定位精度的方法

由于受美国政府的SA政策、星历误差、卫星钟差、电离层效应、对流层效应等因素的影响，GPS的绝对定位精度约为100m，仅能满足运动物体一般的导航需要。为了提高GPS的绝对定位精度，在不依赖于其它导航系统的辅助或采用定位差分方法的前提下，引入了高度保持模式，并在此约束条件下应用总体最小二乘法，通过理论分析和实验计算验证了这一方法的有效性。结果表明此算法可以较大地改善GPS的绝对定位精度。     

一种飞行数据预测方法

为了解决实际飞行试验中机载系统与GPS采样率频率相异,难以对飞行状态实时估计和性能导航进行计算等问题,通过对GPS进行预测来对数据统一化处理.如果机载系统采样频率是GPS的整数倍且GPS输出时间对应于机裁系统采样时刻,给出了一种基于模型的预测方法.对于一般情况,采用了时间序列的混沌多项式预测模型,对实测数据进行相空间重构的基础上,选取最优邻近点进行预测.实际飞行试验数据分析结果表明,给出的预测方法是有效的.     

基于星载双频GPS的长基线卫星编队高精度快速星间相对定位

国际全球导航卫星系统服务(international GNSS service,IGS)精密星历产品的产生时间较长和一阶差分电离层延迟影响是长基线卫星编队利用星载双频全球定位系统实现高精度快速星间差分相对定位存在的两大问题.针对上述问题,提出了一种基于IGS超快速星历的动力学单差消电离层组合相对定位方法,该方法利用IG...     

Cooperative localization against GPS signal loss in multiple UAVs flight

Based on multiple unmanned aerial vehicles(UAVs) flight at a constant altitude,a fault-tolerant cooperative localization algorithm against global positioning system(GPS) signal loss due to GPS receiver malfunction is proposed.Contrast to the traditional means with single UAV,the proposed method is based on the use of inter-UAV relative range measurements against GPS signal loss and more suitable for the small-size and low-cost UAV applications.Firstly,for re-localizing an UAV with a malfunction in its GPS receiver,an algorithm which makes use of any other three healthy UAVs in the cooperative flight as the reference points for re-localization is proposed.Secondly,by using the relative ranges from the faulty UAV to the other three UAVs,its horizontal location can be determined after the GPS signal is lost.In order to improve an accuracy of the localization,a Kalman filter is further exploited to provide the estimated location of the UAV with the GPS signal loss.The Kalman filter calculates the variance of observations in terms of horizontal dilution of positioning(HDOP) automatically.Then,during each discrete computing time step,the best reference points are selected adaptively by minimizing the HDOP.Finally,two simulation examples in Matlab/Simulink environment with five UAVs in cooperative flight are shown to evaluate the effectiveness of the proposed method.     

Analysis of unmanned aerial vehicle navigation and height control system based on GPS

According to the characteristic of global positioning system (GPS) reflection signals, a GPS delay mapping receiver system scheme is put forward, which not only satisfies the unmanned aerial vehicle (UAV) guidance localization but also realizes height measurement. A code delay algorithm is put forward, which processes the direct and land reflected signal and outputs the navigation data and specular point. The GPS terrain reflected echo signal mathematical equation is inferred. The reflecting signal area, when the GPS signal passes the land, is analyzed. The height survey model reflected land surface characteristic is established. A simulation system which carries guidance localization of the UAV and the height measuring control through the GPS direct signal and the land reflected signal is designed, taken the GPS satellite as the illumination source, the receiver is put on the UAV. Then the UAV guidance signal, the GPS reflection signal and receiver’s parallel processing are realized. The parallel processing reduces UAV’s payload and raises system’s operating efficiency. The simulation results confirms the validity of the model and also provides the basis for the UAV’s optimization design.     

基于多跳位置估计的无线光自组网拓扑重构

设计了基于多跳位置估计的无线光移动自组织网络拓扑重构方法,该方法不依赖定位系统,如全球定位系统(global positioning system, GPS)等,也不需要无线电通信辅助,仅采用自由空间光(free space optical, FSO)对网络中其他节点进行方向和距离估计,位置估计信息通过多跳方式传递,用于建立重构链路,增加节点连通度,提高网络性能。该方法分析了多跳节点间的位置不确定区域,并提出了覆盖不确定区域的光波束分配算法用于新的FSO链路建立。仿真表明,在节点规模小于20的自组织网络中,光束发散角大小与距离估计误差决定相对定位精度,并影响重构网络节点端到端性能,通过减小发散角并提高光检测灵敏度,该方法的性能接近基于GPS定位的重构方法。     

绕地飞行器GPS/INS组合测量系统

采用全球定位系统 /惯性导航系统 (globalpositioningsystem/inertialnavigationsystem ,GPS/INS)组合方式实现对绕地飞行器定位和姿态测量。通过对可观测性能分析 ,得出了这样的结论 :仅用伪距和伪距变化率为观测量的组合系统对姿态角误差的可观测性较差。引入GPS载波测量信息作为观测量 ,可以提高姿态测量的可靠性和准确性。采用接收机自主完整性检测 (receiverautonomousintegritymonitoring ,RAIM)技术实时剔除异常数据 ,总结一种改进的自适应滤波算法进行数据处理 ,较之常规的Kalman滤波算法 ,收敛速度更快 ,平稳性更好。计算机仿真验证了算法的有效性     

#br# 基于自适应EKF的BDS/GPS精密单点定位方法

为使精密单点定位(precise point positioning,PPP)获得更短的收敛时间和更高的定位精度,多个导航系统的集成（例如北斗卫星导航系统(Beidou navigation satellite system,BDS)与全球定位系统(global positioning system,GPS)的组合)和更优的定位方法是两种可行选择。针对传统最小二乘(least square,LS)法解算孤立各历元观测量之间的关系以及扩展卡尔曼滤波(extended Kalman filter,EKF)解算先验信息不准的问题,在PPP中,运用自适应扩展卡尔曼滤波(adaptive extended Kalman filter,AEKF)对过程噪声进行调整,以达到对系统状态的最优估计。文章通过实测数据对算法进行了分析和验证,测试结果表明,与传统的EKF算法相比,基于AEKF算法的PPP收敛速度可提高9 min,定位精度可提高33.7%。     

基于马尔可夫过程的GNSS星座可用性评估

卫星导航的星座可用性是评价导航系统性能的重要指标之一。基于马尔可夫过程建立了同时考虑卫星故障率和修复率的单星可用性模型,结合卫星的备份情况提出了空间信号层和服务层的星座可用性评估方法模型。基于上述评估模型,结合大量实测数据分析了空间信号层和服务层的星座可用性概率。结果表明:全球定位系统(global positioning system, GPS)星座可用性评估模型是有效的,GPS星座可用性符合其系统性能规范。提出的星座可用性评估方法对北斗卫星导航系统的全球化建设及其可用性评估有一定的参考价值。     

局域增强系统中的模糊控制载波平滑码算法

针对局域增强系统(LAAS)中导航定位精度问题,提出了一种新的基于模糊控制的载波平滑码(CSC)算法。该算法将载体的运动速度或者导航卫星的几何精度因子(GDOP)划分成不同的值域,当GPS信号出现周跳时,根据速度所在值域,利用模糊控制理论调节GPS信号的载波和码的加权值。可以使导航定位精度平滑,并使定位参差降低一半。给出了应用该方法的具体步骤,并通过静态试验证明了该算法的有效性。     

基于互补滤波器的MEMS/GPS/地磁组合导航系统

针对低成本、高性能、高可靠性导航系统的迫切需求,设计并实现了一种基于互补滤波器的微机电系统(micro electro mechanical system, MEMS)/全球定位系统(global positioning system, GPS)/地磁组合导航系统。通过精确地器件标定,提高了MEMS陀螺仪、加速度计输出数据的准确性;根据MEMS惯性导航系统解算的姿态角、速度、位置结果,结合GPS及地磁的输出,设计了组合导航系统;依据载体的运动状态,设计了自适应调整截止频率的互补滤波器数据融合方法,实现了组合导航系统的定姿定位;最后,对组合导航系统进行静态、动态测试试验,实际测试结果表明,组合导航系统能够达到较高的导航精度。     

基于IMU/GPS的性能导航方法研究

利用直角坐标系与大地坐标系之间的关系,将状态方程直接采用经纬度描述,GPS测量数据与电子地图上的经纬度相匹配,建立了混合模型,给出了一种新的GPS与IMU融合估计方法,提高了重复定位精度,更方便地实现组合导航系统功能。采用GPS和IMU装置进行了地面车辆试验和实际飞行试验,说明了模型和方法的适用性。

Abstract：

A mixed model was established and a new fusion estimation method for GPS and IMU was proposed through the relationship between the Cartesian coordinate system and the ground coordinate system,and the state equation described by the latitude and longitude directly,and the GPS measurement data and electronic map matched to the latitude and longitude.The provided method has improved the repeatability positioning accuracy and more easily integrated navigation system functions.The ground and actual flight were tested to illustrate the applicability of the model and method with GPS and IMU device.     

岸基GPS海面反射信号提取方法及特性分析

岸基全球定位系统(global positioning system, GPS)海面反射信号特性对GPS反射信号遥感反演具有重要意义,可为系统设计提供重要参数支持。在实验数据的基础上对微弱GPS海面反射信号特征提取方法进行验证和分析,结果显示所采用的提取方法能够有效提取海面反射信号;分析不同积分时间相干积分和非相干积分的性能,结果显示,积分时间在100 ms以上时,相干积分和非相干积分都能有效提取反射信号特征,且两者得到的信噪比基本一致;海面反射的GPS信号符合高斯分布特征,这与已发表文献的结论是不同的;两次连续测量反射信号的功率变化有90%的概率超过6 dB。     

一种基于抗差滤波的行人导航算法研究

行人导航系统(pedestrian navigation system, PNS)通常采用全球定位系统(global positioning system, GPS)和航位推算(dead reckoning, DR)组合导航的方式进行定位,因此其定位精度易受GPS定位误差特别是定位粗差的影响。为了减小这种影响,提高行人导航系统定位精度,采用了一种基于抗差滤波的GPS/DR组合行人导航算法。该算法首先对DR系统误差建模,获得行人导航系统卡尔曼滤波模型,再通过GPS与DR系统观测量之差,估计当前观测噪声与先验统计特性的符合程度,利用等价权实时调整观测权值,以避免观测粗差对组合导航精度的影响。最后通过对实测数据的分析表明,在GPS定位误差较大或含粗差情况下,该方法较卡尔曼滤波算法能明显抑制定位误差的影响,将定位精度提高5 m左右,能够在不增加硬件的基础上有效提高GPS/DR组合行人导航精度。     

基于高斯过程回归的平方根UPF算法

针对系统动力学模型不准确可能导致滤波精度下降,以及系统状态协方差阵可能出现的负定性问题,提出一种新的高斯过程回归平方根分解无迹粒子滤波(Gaussian process regression square-root decomposition unscented particle filter,GPSR-UPF)算法。在该算法中,采用高斯过程回归求取UPF的重要性密度函数。当系统模型不准确时,通过高斯过程回归学习训练数据,进而获取系统的回归模型及系统噪声协方差,同时引入平方根变换抑制系统状态协方差阵的负定性。将提出的GPSR- UPF算法应用到捷联惯导/全球定位系统(strapdown inertial navigation system / global positioning system, SINS/GPS)组合导航系统中进行仿真验证。结果表明,所提出滤波算法的性能优于基本的无迹粒子滤波算法,能提高组合导航系统的解算精度。