一种基于多普勒频移的GPS自适应滤波算法研究

针对接收机的动态模型对GPS定位精度的影响,提出了一种基于多普勒频移观测的高动态GPS自适应滤波算法。该算法利用GPS伪距测量值以及利用信号载波的多普勒频移所获得的伪距率测量值,在GPS动态滤波中同时观测伪距和伪距率。借助于移动目标的运动矢量模型以及GPS定位误差模型建立了滤波方程。重点讨论了运用该模型进行Kalman滤波的实现过程。仿真实验表明,该模型与传统的方差自适应模型相比,位置精度提高了32%、速度精度提高了25%,应用本文算法能够提高定位精度和改善接收机的动态性能,拓宽高精度、高动态导航的应用范围。     

利用GPS伪距导出的多普勒频移测速

推导了利用伪距观测值获取多普勒频移的公式,并利用导出的多普勒频移来确定载体的速度。实测数据表明,利用伪距导出的多普勒频移测速,可以达到dm/s级的水平。在没有原始多普勒观测值或者相位观测出现了频繁周跳的情况下,可以利用伪距导出的多普勒频移获得载体概略的速度信息。     

GPS单点测速的误差分析及精度评价 (英文)

Error sources which decrease the accuracy of GPS in absolute velocity determination have been changed since SA was turned off. Firstly, quantities of all kinds of error sources that influence velocity determination are analyzed. The potential accuracy of GPS absolute velocity determination is derived from both theory and field GPS data simulation. After that, two tests were carried out to evaluate the performance of GPS absolute velocity determination in the case of a static and an airborne GPS receiver and INS （Inertial Navigation System） instrument in kinematic mode. In static mode, the receiver velocity has been estimated to be several mm/s with the carrier-phase derived Doppler measurements, and several cm/s with the receiver generated Doppler measurements. In kinematic mode, GPS absolute velocity estimates are compared with the synchronized measurements from the high accuracy INS. The root mean square statistics of the velocity discrepancies between GPS and INS come up to dm/s. Moreover, it has a strong correlation with the acceleration or jerk of the aircraft.     

Single receiver phase ambiguity resolution with GPS data

Global positioning system (GPS) data processing algorithms typically improve positioning solution accuracy by fixing double-differenced phase bias ambiguities to integer values. These “double-difference ambiguity resolution” methods usually invoke linear combinations of GPS carrier phase bias estimates from pairs of transmitters and pairs of receivers, and traditionally require simultaneous measurements from at least two receivers. However, many GPS users point position a single local receiver, based on publicly available solutions for GPS orbits and clocks. These users cannot form double differences. We present an ambiguity resolution algorithm that improves solution accuracy for single receiver point-positioning users. The algorithm processes dual- frequency GPS data from a single receiver together with wide-lane and phase bias estimates from the global network of GPS receivers that were used to generate the orbit and clock solutions for the GPS satellites. We constrain (rather than fix) linear combinations of local phase biases to improve compatibility with global phase bias estimates. For this precise point positioning, no other receiver data are required. When tested, our algorithm significantly improved repeatability of daily estimates of ground receiver positions, most notably in the east component by approximately 30% with respect to the nominal case wherein the carrier biases are estimated as real values. In this “static” test for terrestrial receiver positions, we achieved daily repeatability of 1.9, 2.1 and 6.0 mm in the east, north and vertical (ENV) components, respectively. For kinematic solutions, ENV repeatability is 7.7, 8.4, and 11.7 mm, respectively, representing improvements of 22, 8, and 14% with respect to the nominal. Results from precise orbit determination of the twin GRACE satellites demonstrated that the inter-satellite baseline accuracy improved by a factor of three, from 6 to 2 mm up to a long-term bias. Jason-2/Ocean Surface Topography Mission precise orbit determination tests results implied radial orbit accuracy significantly below the 10 mm level. Stability of time transfer, in low-Earth orbit, improved from 40 to 7 ps. We produced these results by applying this algorithm within the Jet Propulsion Laboratory’s (JPL’s) GIPSY/OASIS software package and using JPL’s orbit and clock products for the GPS constellation. These products now include a record of the wide-lane and phase bias estimates from the underlying global network of GPS stations. This implies that all GIPSY–OASIS positioning users can now benefit from this capability to perform single-receiver ambiguity resolution.     

GPS卫星信号Doppler频移的计算与分析

在GPS导航定位系统中，多普勒频率偏移直接影响接收机性能。为了克服多普勒频率偏移的影响，提高接收机的GPS信号捕获速度，对多普勒频移估计算法进行研究。通过分析可视卫星的判定、Doppler频移计算方法，基于NewStar150GPS原理实验平台，使用C＋＋语言编程，开发Doppler频移计算程序。实验结果表明，Doppler频移的大小与a有关。当a〈90°时，多普勒频移为正，用户接收机收到的频率比卫星发射的频率要低。当a〉90°时，多普勒频移为负；当a=90°时，多普勒频移为0。     

GPS多普勒观测值测速的精度分析

讨论了利用多普勒观测值进行单点测速的观测方程,分析了其误差来源和各误差源对测速精度的影响。用自编软件计算了静态和动态条件下GPS测速的精度,其中动态测速的参考速度采用GrafNav Version7．00软件计算得到,比较结果表明在静态和动态条件下测速精度都可以达到cm／s级     

Using GPS for monitoring tall-building response to wind loading: filtering of abrupt changes and low-frequency noise,variography and spectral analysis of displacements

We compare two methods for monitoring the dynamic response of tall buildings to wind loading, using data from a 280-m-high building in Singapore. The first method is based on accelerometer measurements. The second method is based on the Global Positioning System (GPS) technology. The GPS can in principle detect absolute displacements with lower frequencies than the accelerometers, but the GPS positioning signal is usually very noisy. We propose a systematic procedure for modeling the stochastic and systematic components of the GPS displacement time series and for extracting the weak structural response from the dominant noise. The spectrum of the building response obtained from the filtered GPS data exhibits a dominant peak at 0.19 Hz. The frequency of the peak coincides with that obtained from the analysis of the accelerometer data. The proposed analysis of the GPS signal provides a method for cross-validating the GPS and accelerometer measurements, and shows that “educated” filtering of the GPS signal can reveal essential features of the building’s response to wind loading.     

A preventative approach to mitigating CW interference in GPS receivers

In the global positioning system (GPS), code division multiple access (CDMA) signals are used. Because of the known spectral characteristics of the CDMA signal, continuous wave (CW) interference has a predictable effect on the different pseudo random noise (PRN) spreading codes (unique to each satellite) depending on the Doppler frequency of the signal. The Doppler frequency for each signal is also predictable once the receiver position is known. As different satellite signals have different Doppler frequencies, the effect on the signal quality is also different. In this paper first the effect is studied analytically. The concept of an “exclusion zone” is defined and analyzed for each satellite. This exclusion zone, where that satellite should not be used due to interference degradation, is shown to be predictable for each satellite as a function of time. Using this prediction, the CW interference effect on the positioning quality of the receiver can be mitigated by ignoring the affected satellites within exclusion zones when performing position evaluation. The threshold beyond which a satellite should be excluded is then derived by studying the mutual effects of the geometry and the signal quality of that satellite on the positioning quality. Receiver autonomous integrity monitoring (RAIM) uses redundancy in measurements to perform an internal consistency check to see if all of the measurements are satisfactory. In this paper this technique is also used to mitigate the effect of CW interference on the positioning accuracy. Finally it is shown that the prediction of the exclusion zone for each satellite outperforms the RAIM algorithm in mitigation the effect of the interference when 5 satellites are visible. An erratum to this article can be found at     

Influence of clock jump on the velocity and acceleration estimation with a single GPS receiver based on carrier-phase-derived Doppler

Since the Selective Availability was turned off, the velocity and acceleration can be determined accurately with a single GPS receiver using raw Doppler measurements. The carrier-phase-derived Doppler measurements are normally used to determine velocity and acceleration when there is no direct output of the raw Doppler observations in GPS receivers. Due to GPS receiver clock drifts, however, a GPS receiver clock jump occurs when the GPS receiver clock resets itself (typically with 1 ms increment/decrement) to synchronize with the GPS time. The clock jump affects the corresponding relationship between measurements and their time tags, which results in non-equidistant measurement sampling in time or incorrect time tags. This in turn affects velocity and acceleration determined for a GPS receiver by the conventional method which needs equidistant carrier phases to construct the derived Doppler measurements. To overcome this problem, an improved method that takes into account, GPS receiver clock jumps are devised to generate non-equidistant-derived Doppler observations based on non-equidistant carrier phases. Test results for static and kinematic receivers, which are obtained by using the conventional method without reconstructing the equidistant continuous carrier phases, show that receiver velocity and acceleration suffered significantly from clock jumps. An airborne kinematic experiment shows that the greatest impact on velocity and acceleration reaches up to 0.2 m/s, 0.1 m/s² for the horizontal component and 0.5 m/s, 0.25 m/s² for the vertical component. Therefore, it can be demonstrated that velocity and acceleration measurements by using a standalone GPS receiver can be immune to the influence of GPS receiver clock jumps with the proposed method.     

Use of comb filters in GPS L1 receivers

Comb filters can be designed by replacing single delays in digital filters by multiple delays. These filters are “periodic” in the sense that their frequency response repeats itself at fixed intervals. They are thus well suited to a signal such as GPS L1 which has a spectrum made up of lines separated by the code repetition frequency of 1 kHz. In this paper we examine how periodic filters can be used in a conventional GPS L1 receiver. We find that comb filters assist with acquisition of weak signals, and can improve code-tracking performance.     

The corridor correction concept

Atmospheric delays are contributors to the GNSS error budget in precise GNSS positioning that can reduce positioning accuracy considerably if not compensated appropriately. Both ionospheric and tropospheric delay corrections can be determined with help of reference stations in active GNSS networks. One approach to interpolate these error terms to the user’s location that is employed in Germany’s SAPOS network is the determination of area correction parameters (ACP, German: “Fl?chenkorrekturparameter—FKP”). A 2D interpolation scheme using data from at least 3 reference stations surrounding the rover is employed. A modification of this method was developed which only makes use of as few as 2 reference stations and provides 1D linear correction parameters along a “corridor” in which the user’s rover is moving. We present the results of a feasibility study portraying results from use of corridor correction parameters for precise RTK-like positioning. The differences to the reference coordinates (3D) attained in average for 1 h of data employing selected network nodes in Germany are between 0.8 and 2.0 cm, which compares well with the traditional area correction method that yields an error of 0.7 up to 1.1 cm.     

Differentiation for High-Precision GPS Velocity and Acceleration Determination

Accurate estimates of the velocity and acceleration of a platform are often needed in high dynamic positioning, airborne gravimetry, and geophysics. In turn, differentiation of GPS signals is a crucial process for obtaining these estimates. It is important in the measurement domain where, for example, the phase measurements are used along with their instantaneous derivative (Doppler) to estimate position and velocity. It is also important in postprocessing, where acceleration is usually estimated by differentiating estimates of position and velocity. Various methods of differentiating a signal can have very different effects on the resulting derivative, and their suitability varies from situation to situation. These comments set the stage for the investigations in this article. The objective is twofold: (1) to carry out a comprehensive study of possible differentiation methods, characterizing each in the frequency domain; and (2) to use real data to demonstrate each of these methods in both of the measurement and position domains, in conditions of variable, high, or unknown dynamics. Examples are given using real GPS data in both the measurement domain and in the position and velocity domain. The appropriate differentiator is used in several cases of varying dynamics to derive a Doppler signal from carrier phase measurements (rather than using the raw Doppler generated by the receiver). In the statistic case, it is seen that the accuracy of velocity estimates can be improved from 4.0 mm/s to 0.7 mm/s by using the correct filter. In conditions of medium dynamics experienced in an airborne gravity survey, it is demonstrated that accelerations as the 2–4 mGal level (1 mGal = 0.00001 m/s²) can be obtained at the required filtering periods. Finally, a precision motion table is used to show that when using the correct filter, velocity estimates under high dynamics can be improved by an order of magnitude to 27.0 mm/s. ? 1999 John Wiley & Sons, Inc.     

Attitude determination by integration of MEMS inertial sensors and GPS for autonomous agriculture applications

Integration of Global Positioning System (GPS) and Inertial Navigation System (INS) technologies, which has widespread usage in industry, is also regarded as an ideal solution for automated agriculture because it fulfils the accuracy, reliability and availability requirements of industrial and agricultural applications. Agriculture applications use position, velocity and heading information for automated vehicle guidance and control to enhance the yield and quality of the crop, and in order to vary the application of fertilizer and herbicides according to soil heterogeneity at sub-field level. A loosely coupled GPS/INS integration algorithm known as “AhrsKf” is introduced for automated agriculture vehicle guidance and control utilizing MEMS inertial sensors and GPS. The AhrsKf can produce high-frequency attitude solutions for the vehicle’s guidance and control system, by using inputs from a single survey grade L1/L2 antenna, eliminating the need for the previous two antenna solutions. Given its agricultural application, the AhrsKf has been implemented with some specific design features to improve the accuracy of the attitude solution including, temperature compensation of the inertial sensors, and the aid of plough lines of farm lands. To evaluate the AhrsKf solution, two benchmarking tests have been conducted by using a three-antenna GPS system and NovAtel’s SPAN-CPT. The results have demonstrated that the AhrsKf solution is stable and can correctly track the movement of the farming vehicle.     

A scheme for weak GPS signal acquisition aided by SINS information

In order to enhance the acquisition performance of global positioning system (GPS) receivers in weak signal conditions, a high-sensitivity acquisition scheme aided by strapdown inertial navigation system (SINS) information is proposed. The carrier Doppler shift and Doppler rate are pre-estimated with SINS aiding and GPS ephemeris, so that the frequency search space is reduced, and the dynamic effect on the acquisition sensitivity is mitigated effectively. Meanwhile, to eliminate the signal-to-noise ratio gain attenuation caused by data bit transitions, an optimal estimation of the unknown data bits is implemented with the Viterbi algorithm. A differential correction method is then utilized to improve the acquisition accuracy of Doppler shift and therefore to meet the requirement of carrier-tracking loop initialization. Finally, the reacquisition experiments of weak GPS signals are implemented in short signal blockage situations. The simulation results show that the proposed scheme can significantly improve the acquisition accuracy and sensitivity and shorten the reacquisition time.     

Relativistic Time Transformations in GPS

Since Selective Availability was permanently switched off on 7 May 2000, most of the GPS satellite clocks have been well behaved. During a 24-h period precise satellite clock solutions, corrected for GPS conventional relativistic corrections, follow straight lines within a few nanoseconds. The linear clock fit RMS for the best satellite clocks are well below the 1-ns level, which is consistent with the nominal stability of the GPS frequency standards. Typically, the GPS satellite clocks show an Allan variance at or below one part in 10¹¹/100 s for the Cesium frequency standards and a few parts in 10¹²/100 s for the Rubidium frequency standards. These results correspond to clock RMSs for 15-min sampling at or below 3 and 0.3 ns, respectively. This already confirms experimentally that the conventional periodic relativity correction of the GPS system, also adopted for all the IGS clock solution products, is precise and correct to 0.6 ns or better. To establish the precision limits of the GPS conventional relativity treatment, the relativistic time transformations of GPS satellite frequency and clocks are critically reviewed, taking into account all the contributions larger than the 10⁻¹⁸ (or 0.001 ns). The conventional GPS relativity treatment was found to be accurate, i. e., correctly modeling the actual relativistic frequency (clock rate) effects of GPS satellites at about the 10⁻¹⁴ level. However, it is also affected by small periodic errors of the same magnitude. The integration of these small periodic frequency relativistic errors gives the approximation errors of the conventional periodic relativistic clock correction with amplitudes of about 0.1 ns and a predominant period equal to a half of the orbital period (∼ 6 h). These approximation errors of the conventional GPS relativistic clock correction are at about the same level as the current precision of the IGS clock solutions. ? 2002 Wiley Periodicals, Inc.     

Pseudo-Satellite Applications in Deformation Monitoring

In this article, three general classes of potential pseudolite applications for deformation monitoring are described. The first is GPS augmentation with pseudolite(s), which is suitable for circumstances such as urban canyons, or for monitoring in valleys and deep open-cut mines. The second is indoor applications of pseudolite deformation monitoring systems. Pseudolite arrays can, in principle, completely replace the GPS satellite constellation. This could extend the “satellite-based” deformation monitoring applications into tunnels or underground, where GPS satellite signals cannot be tracked. The last case is an inverted pseudolite-based deformation monitoring system, where a “constellation” of GPS receivers with precisely known “orbits” track a mobile pseudolite. The system consists of an array of GPS receivers, the base reference pseudolite, the mobile pseudolite, and a central processing system. However, in the case of such pseudolite-only or hybrid pseudolite-GPS deformation monitoring systems, some additional issues need to be addressed. These include multipath, atmospheric delay effects, and pseudolite location-dependent biases. To address deformation monitoring applications, some practical procedures to mitigate or eliminate their influence are suggested. Some experiments were carried out using NovAtel GPS receivers and IntegriNautics IN200CXL pseudolite instruments. The experimental results indicate that the accuracy of the height component can indeed be significantly improved – the RMS of the vertical component has been reduced by a factor of 4, to the same level as the horizontal components. Their performance will be demonstrated through case study example. ? 2002 Wiley Periodicals, Inc.     

GNSS data management and processing with the GPSTk

We organize complex problems in simple ways using a GNSS data management strategy based on “GNSS Data Structures” (GDS), coupled with the open source “GPS Toolkit” (GPSTk) suite. The code resulting from using the GDS and their associated “processing paradigm” is remarkably compact and easy to follow, yielding better code maintainability. Furthermore, the data abstraction allows flexible handling of concepts beyond mere data encapsulation, including programmable general solvers. An existing GPSTk class can be modified to achieve the goal. We briefly describe the “GDS paradigm” and show how the different GNSS data processing “objects” may be combined in a flexible way to develop data processing strategies such as Precise Point Positioning (PPP) and network-based PPP that computes satellite clock offsets on-the-fly.     

Pitch and roll attitude estimation of a small-scaled helicopter using single antenna GPS with gyroscopes

A method is presented for estimating the roll and pitch attitude of a small-scaled unmanned helicopter based on the velocity measurements of the global positioning system (GPS). The small-scaled helicopter is a radio controlled (RC) model which is readily available and affordable for academic laboratories as a research platform. Only one single antenna GPS receiver is equipped on the RC helicopter to acquire the velocity measurements needed for the attitude estimation. The velocity information is recorded by the onboard computer for post-processing. An attitude and heading reference system (AHRS) is used to provide the reference attitudes. The required angular rates and heading for this study are also given by the gyroscopes and compass of the AHRS for the sake of system’s simplification. The Kalman filter is applied to estimate the helicopter’s accelerations by using the GPS velocity measurements. The estimated accelerations form the fundamental elements of synthesizing the pseudo-roll and the pseudo-pitch. With some legitimate simplifications and assumptions, the relation between the helicopter’s attitudes and the accelerations estimated from the GPS velocity measurements can be developed. Furthermore, to enhance the accuracy of the pseudo-attitudes, the angular rates acquired from the gyroscopes are incorporated into the estimation algorithm of pseudo-attitudes by using a complementary filter.

Improved relativistic transformations in GPS

For GPS satellite clocks, a nominal (hardware) frequency offset and a conventional periodic relativistic correction derived as a dot product of the satellite position and velocity vectors, are used to compensate the relativistic effects. The conventional hardware clock rate offset of 38,575.008 ns/day corresponds to a nominal orbit semi-major axis of about 26,561,400 m. For some of the GPS satellites, the departures from the nominal semi-major axis can cause an apparent clock rate up to 10 ns/day. GPS orbit perturbations, together with the earth gravity field oblateness, which is largely responsible for the orbit perturbations, cause the standard GPS relativistic transformations to depart from the rigorous relativity transformation by up to 0.2 ns/day. In addition, the conventional periodic relativistic correction exhibits periodic errors with amplitudes of about 0.1 and 0.2 ns, with periods of about 6 h and 14 days, respectively. Using an analytical integration of the gravity oblateness term (J₂), a simple analytical approximation was derived for the apparent clock rate and the 6-h periodic errors of the standard GPS gravity correction. For daily linear representations of GPS satellite clocks, the improved relativistic formula was found to agree with the precise numerical integration of the GPS relativistic effects within about 0.015 ns. For most of the Block IIR satellites, the 6-h periodical errors of the GPS conventional relativistic correction are already detectable in the recent IGS final clock combinations.     

Ionospheric super-bubble effects on the GPS positioning relative to the orientation of signal path and geomagnetic field direction

Using GPS data of the Japanese network GEONET, we analyze occurrence of GPS-phase slips and positioning errors during the geomagnetic storm of February 12, 2000. Although the storm was not intensive, registering a minimum Dst excursion of −133 nT and a maximum Kp = 6.7 value, it attracted the attention of researchers because of the appearance of a super-bubble at mid-latitudes. We identified numerous GPS-phase slips in the area of the super-bubble. By the time of the bubble’s appearance, a total of 33% of GPS receivers experienced positioning errors of more than 500 m. Around 13:00 UT, the positioning quality was worse than 100 m almost all of Japan. We also found that the occurrence of phase slips of the satellite signals depends on the angle γ between the receiver-satellite line of sight and geomagnetic field lines. The maximum value of GPS-phase slips corresponds to γ = 0° and 90°. For the satellites positioned close to the magnetic zenith region, the density of phase slips reached 32%. In addition to carrier-phase slips, the super-bubble caused sharp increases in positioning errors of several hundred meters at receiver locations below 38°N latitude. As a result, precise positioning was not possible for about 2 h.