单频GPS载波相位整周模糊度解算研究

介绍了一种求解单频GPS载波相位整周模糊度的改进算法.通过Tikhonov正则化,减弱GPS快速定位中少数历元情形下法矩阵的病态性,得到更接近整周模糊度准确值的浮点解.然后对整周模糊度的方差协方差阵白化滤波,减弱短时间内双差整周模糊度之间的相关性,取整后得到整周模糊度的固定解.并结合一个实例与白化滤波、Lambda方法和白化滤波 Lambda方法进行对比,验证改进方法的效果.     

一种有效的单频GPS相位模糊度解算方法

针对快速定位中GPS单频相位模糊度较难归整的问题,采用理论分析和实验验证的方法,推导了实时动态下相位平滑伪距的递推公式,给出了一些提高观测方程线性化初始值精度的思路。在分析了短时间段双差方程结构特性的基础上,提出采用迭代选权拟合法提高相位模糊度实数解精度的新方法。算例表明,该方法提高了模糊度实数解的精度和可靠性,缩小了模糊度的搜索空间,促进了模糊度解算效率和成功率,从而能促进单频GPS接收机在高精度快速定位中的应用。     

Near-field surface displacement and permanent deformation induced by the Alaska Mw 7.5 earthquake determined by high-rate real-time ambiguity-fixed PPP solutions

High-rate GPS data from the United States continuously operating reference stations in the Alaska region are processed using the recently developed precise point positioning （PPP） technique. The traditional PPP technique does not fix ambiguities into their integers because these ambiguities do not have an integer nature when data from a single receiver, as well as precise orbit and clock corrections, are used. Additional corrections, i.e., uncalibrated phase delay （UPD）, are needed to fix integer ambiguities and consequently improve positioning accuracy. This study proposes a methodology to compute for wide-lane and L2 （the second L-band frequency） UPDs using the geometry-based model and subsequently applies these parameters to the computation for ambiguity-fixed solutions. The instantaneous displacements of near-field sites, as well as the permanent deformations after the earthquake, are therefore obtained for the January 5, 2013, Alaska earthquake. The real-time performance of PPP solutions are assessed by considering realistic data latency and data interval of corrections. Ambiguity-fixed solutions are compared with ambiguity-float ones. The comparison shows that the positioning accuracy can be improved significantly when the ambiguities are fixed correctly. The solutions using the real-time corrections are also compared with those using post-processing corrections, i.e., Center for Orbit Determination in Europe final orbit and clock. Although the accuracy is somehow degraded because of the data latency and data interval, the real-time results are satisfactory for use in monitoring the small-scale deformation （1-2 cm） caused by the Alaska earthquake. In addition, the kinematic ambiguity-fixed PPP solutions for 7 days around the earthquake are calculated to obtain permanent pre- and post-earthquake deformations. The deformations computed from real-time and post-processing corrections do not appear to be significantly different.     

阻尼白化滤波及其在GPS模糊度快速解算中应用

针对矿区开采沉陷观测中存在的两次观测的变形值不大等特点,将其作为约束条件,结合改进的白化滤波算法,提出了一种适合单频GPS监测开采沉陷的阻尼白化滤波快速解算模糊度算法。针对一般白化滤波方法对白化处理后模糊度直接取整的做法,提出在假设检验通不过时,引入LAMBDA中的条件最小二乘方法进行搜索,可以有效提高模糊度解算成功率。这个算法为用GPS监测矿区开采沉陷、大坝、滑坡、大桥及高层建筑物等的变形时的模糊度解算提供一条有效途径。     

附加约束法在单频GPS快速静态定位中的应用

针对在短时间内GPS观测方程的法方程容易形成病态的实际,探讨用附加约束条件来消除其病态性的方法,然后用LAMBDA方法确定其整周模糊度,实验证明,对于单频GPS接收机,利用5个历元数据,使用该技术即可正确确定整周模糊度,从而实现厘米级定位.     

Research on the estimation of GPS phase ambiguities by triple frequency observations

As a part of modernization of GPS, a new signal with a frequency of 1 176.45 MHz will be made available to the civilian community and can provide more measurements for positioning in combination with the well known L1 and L2 signals. Applying the law of variance-covariance propagation, the correlation of triple-frequency ambiguity is discussed, the L1 ambiguity is week correlate with wide lane and long wide lane ambiguity. Under a comprehensive analysis of linear combination, no matter how long the baseline is, the ambiguities of long wide lane carrier phase combination can be determined using code measurements directly, ambiguity of short baseline can be fixed fast because of very small standard error of ambiguities of many linear combinations, the main efforts of TCAR are ambiguity resolution of long baseline. The ionosphere-free combinations used widely are not suitable for ambiguity resolution because of very short wavelength with high noise and very large standard error of ambiguity. The smoothing procedure reduces the standard errors of code and also can improve ambiguity estimation, the ambiguity of wide-lane, in long baseline case, can be rounded to the nearest integer within six epochs.     

GPS单频单历元定姿算法性能分析与改进方法

为了提高LAMBDA在单频单历元情况下的性能和成功率,对该定姿算法的性能进行了理论研究,分析了影响搜索效率的因素,并提出了一种新的求解模型.将未知的整周模糊度拟合成噪声,能够显著提高搜索效率,同时利用模糊度存在范围等约束条件对原算法的成功率进行了改善.实验表明:相比于原算法,改进算法能够有效减少GPS姿态解算的时间,同...     

Application of adaptive filtering by selecting the parameter weight factor in precise kinematic GPS positioning

A new method of adaptive filtering by selecting the parameter weight factor is introduced in this paper. Based on the theoretical analysis and research, this method is firstly used for precise kinematic GPS positioning with single frequency double-differenced (DD) carrier phase observations. Two numerical examples are given to illustrate the feasibility and validity of the method. The preliminary results show that precise positioning results can be obtained by using only the GPS single frequency DD carrier phase measurements for short baselines with the new method.     

北斗高精度相对定位选星方法研究

针对北斗系统中高轨卫星会带来较全球定位系统（global positioning system ,GPS）更为严重的法方程病态性这一问题,分析了双差载波相位观测方程系数矩阵对整周模糊度浮点解解算的影响,结合北斗系统三轨道星座混合的特点,研究了区域北斗高精度相对定位选星方法,以仰角最高的地球同步轨道（geostationary earth orbit, GEO）卫星作为参考星,优先选取仰角高于10°的中地球轨道（medium earth orbit,MEO）卫星,然后按照均匀分布的原则选取倾斜地球同步轨道（inclined geosynchronous satellite orbit,IGSO）卫星。通过对实测数据进行试验和分析,证明了该方法的正确性和合理性,在进行区域北斗高精度相对定位时,能在一定程度上改善法方程的病态性,使模糊度浮点解较快收敛至真值附近,有利于模糊度的快速正确固定。     

多参考站网络的虚拟观测值生成算法

讨论了GPS观测值误差改正方法,提出了一种基于多参考站的GPS观测值向流动站用户发布虚拟观测值的算法.该算法通过参考站的已知精确坐标和已经解算的模糊度计算参考站间双差空间相关误差,然后内插局域网内任意一点空间相关误差作为改正数.当只使用3个参考站时使用线性内插法,多于3个参考站时使用曲面拟合或最小二乘平差方法等内插方法.用内插获得的改正数改正离流动站最近的参考站(主参考站)的观测值,形成虚拟观测值,然后发送给流动站用户,流动站用户仍然应用已有的单参考站GPS定位算法进行定位.通过对江苏局域参考站网络收集的实测数据计算分析证明了本文算法的有效性,达到厘米级定位精度.     

基于天牛须种群算法的整周模糊度解算算法

如何快速、准确的固定整周模糊度是载波相位测量中的一个关键问题。为了提高整周模糊度搜索速率,本文提出了一种基于天牛须种群算法(Beetle Antennae Colony Search, BACS)的整周模糊度解算算法。通过与BAS算法、BAS-Nadam算法、LAMBDA算法以及MLAMBDA算法进行解算速率、稳定性的对比实验,在三维模糊度解算时,BACS算法在与LAMBDA和MLAMBDA算法解算成功率相当的情况下,能利用更少的时间搜索到模糊度最优解。为了验证BACS算法在高维模糊度解算以及工程解算情况下是否适用,进行了高维模糊度解算的实验以及单频单GPS系统下BACS算法的应用实验。分析及实验表明,BACS算法能很好保证高维模糊度解算的实时性和鲁棒性,对于12维模糊度解算,平均解算时间0.068秒,解算成功率为92%,对于低维模糊度解算,解算速率更快,解算成功率更高。在单频单GPS系统工程解算中,x,y,z方向定位精度分别为±0.008米,±0.01米,±0.01米,能达到厘米级精度定位。     

单频非差相位观测值的周跳探测与修复方法

周跳探测在高精度GPS(global positioning system)数据处理中一直都是比较重要的环节.实际数据处理中可根据具体测量模式和需求采用已有的若干经典周跳探测方法,但单频非差相位观测值的周跳探测与修复则比较困难.为此提出一种新的周跳探测方法,它是基于灰色理论对伪距和载波相位观测值构造的周跳检验量进行建模,通过模型预测检验量的阈值范围对比实测值来判断是否发生周跳.通过对实测GPS静态数据在不同采样率下分别进行周跳探测与修复算例分析,结果表明对于高采样率的非差相位观测数据能够快速和准确地修复周跳,为非差精密定位提供了较好的数据质量控制.     

基于GPS定位原理的轨道外部几何参数测量系统

 利用GPS 定位全天候、高效率、低成本的特性,设计出一种新型的轨道外部几何参数测量系统.该系统由卫星系统、加载接收机的轨检仪、控制网和GPRS 发射站组成.测量前,先构建边连式同步图形扩展式带状轨道监测控制网,并在现有的轨检仪上加载GPS 接收机.测量过程中,轨检仪沿轨道运动:GPS 控制网中4 个GPS 基站与轨检仪上GPS 流动站实时采集定位信息;定位信息经双差处理和整周模糊度解算后,得到RTK(real-time kinematic)观测量,确立轨道中心线;结合轨检小车测出的轨道内部几何参数和轨道中心线,解算出轨道高程.静态实验与外场试验结果表明:该测量系统自动化程度较高,静态观测误差在0.5 mm 以内,动态误差在15 mm 以内,完全能够满足轨道外部几何参数高精度测量的要求.     

Using quasi ionosphere-free post-processing algorithm on the medium-range kinematic high accuracy GPS relative positioning

We utilize Quasi Ionosphere-Free (QIF) post-processing algorithm to account for ionosphere delay and use addition parameters to solve for tropospheric bias. Then the estimated integer ambiguities and troposphere parameters are fixed to acquire kinematic relative positions at every epoch.Using kinematic relative positioning, data from the Taiwan continuous GPS network (TCGN) are utilized to analyze the co-seismic displacements associated with the 21 September 1999 Chi-Chi earthquake (ML=7.3). The station near the highest peak of Taiwan, Yushan (YUSN) and a station ineastem Taiwan, Fenglin (FLNM) show significant co-seismic displacements of 18 and 12 cm in the north direction as well as 16 and 24 cm in the west direction, respectively. Comparing the co-seismic displacements estimated from daily solutions with those from kinematic results, the differences are less than 2 cm in the horizontal components. The impact of the major aftershocks occurred immediately after the mainshock can be identified from the kinematic positioning. The same algorithm is also applied to study the 1 Hz sampling rate data related to 31 March 2002 off Hualien earthquake (ML=6.8), seven stations of the TCGN are analyzed to study the co-seismic deformation. With the higher sampling rate data, the instantaneous ground motion caused by the propagation of seismic waves can be observed.     

单频GPS基线精化解算的经验模式分解方法

为了削弱非模型化误差对单频GPS基线解算的影响,引入经验模式分解法对原始双差观测值进行自适应滤波消噪.在此基础上应用消噪后的双差观测值结合LAMBDA方法进行整周模糊度确定,进而计算基线固定解.算例分析结果表明:此方法可以有效增强基线解算的可靠性并能明显改善定位精度.     

基于改进的遗传算法解算GPS双差模糊度的研究

将遗传算法(GA)应用于GPS双差模糊度解算过程,针对双差模糊度的整数特性,进行了实数编码的改进、遗传算法的改进等算法设计,实现了双差模糊度直接在大范围、高精度、整数域上的优化搜索,提高了解算的稳定性与高效性。试验结果表明,经过改进的实数编码GA可以取得比二进制编码GA更高的效率和成功率,更适于双差模糊度搜索。     

基于遗传算法的GPS病态方程的解算

为准确解算仅有少数几个历元的GPS载波相位观测数据的病态定位方程,将GPS快速定位的病态法方程求解问题转化为一个函数优化问题,应用遗传算法求解病态方程,避免了法方程的求逆运算,从而可以得到参数的近似最优解。实验表明,通过设计合适的适应度函数、确定合理的初始种群范围并选择合适的遗传算法运行参数,可使GPS快速定位病态方程参数浮点解的精度得到大大提高,接近参数正确值,有利于快速固定模糊度。该成果对于缩短GPS定位时间、提高GPS定位精度具有一定的意义。     

Positioning accuracy and reliability of GALILEO, integrated GPS-GALILEO system based on single positioning model

A kind of uniform reliability index suitable for the code and phase observations is presented and used in reliability evaluation of satellite systems. Then, based on 25 stations of Crustal Movement Observation Network of China, satellite visibility, positioning availability and observation reliability of GPS, GALILEO and integrated GPSGALILEO are calculated and analyzed in detail. Simulation results reveal that the satellite visibility of GALILEO is superior to that of GPS. Given positioning accuracy, horizontal positioning availability of GALILEO is consistent with that of GPS, but its vertical positioning availability is superior to that of GPS. However, the integrated GPS-GALILEO is shown to be superior to each of the single systems in the aspects of positioning accuracy and availability. The reliability of code and phase observations based on GALILEO and integrated GPS-GALILEO system is superior to that of GPS both in spatial and temporal domains on the whole. The new reliability index presented is simple to calculate and reflects reliability differences of different satellite systems.     

基于超短基线的双频整周模糊度单历元取整固定算法

针对使用伪距取整固定宽巷整周模糊度效率高,但是宽巷一周取整错误发生频繁,伪距误差较大时还会出现大于一周的取整错误的问题,设计了一种可以弥补宽巷取整错误的整周模糊度固定算法.通过宽巷分离出的L₁浮点解小数探测和修复宽巷一周取整错误,使用RAIM算法排除大于一周的宽巷取整错误,最后使用正确的整周模糊度固定全部整周模糊度,完成高精度定位.使用实际GPS超短基线数据比较该算法与单历元LAMBDA算法的性能.该算法提高了直接使用伪距取整宽巷整周模糊度的固定率.相比单历元LAMBDA算法,本文算法的固定率稍低,但计算效率有明显提升.      

GPS变形监测信息单历元解算的抗差估计方法研究

根据高精度GPS变形监测的特点,介绍了单历元解算监测点变形量的似单差数学模型及其算法．该算法不涉及周跳的探测与修复、双差整周未知数的解算等棘手问题,适用于同步观测卫星数不少于2颗的情况．为提高单历元解算变形信息的可靠性,在分析算法的基础上,构造了实现对卫星进行自动选择的抗差估计模型．3个不同测区的试验数据计算结果表明,本文建立的似单差模型是正确的,采用抗差估计方法来选择卫星也是可行的．