GNSS精密单点定位与惯性导航紧组合理论模型

针对精密单点定位(Precise Point Positioning,PPP)动态定位精度低、收敛速度慢等问题,本文采用PPP/INS紧组合系统来达到改善PPP动态定位性能的目的。本文对PPP/INS紧组合的观测方程、误差补偿模型、参数估计模型等进行详细推导。通过车载实验采集的卫星观测数据和不同等级的惯性数据,对动态PPP及PPP/INS紧组合的定位定姿性能进行分析,评估不同等级惯性传感器对PPP/INS紧组合定位精度和收敛速度的影响。实验结果表明:PPP/INS紧组合在北—东—高方向的位置RMS相对于PPP分别改善了70.2%、29.1%和16.8%,达到4.8 cm、12.3 cm和7.4 cm。在卫星跟踪条件良好时,惯性传感器性能对PPP/INS紧组合定位精度影响不大;而在卫星观测条件不足时,惯性传感器性能对PPP/INS紧组合定位精度影响明显。此外,仿真和恶劣条件下的数据结果表明,PPP/INS初始定位精度与收敛速度随惯性传感器性能提高而改善明显。     

GNSS/INS组合导航系统定位精度分析

GNSS/INS组合导航系统近年来得到了快速发展,应用领域越来越广泛。组合导航的定位精度是一个重要的研究方向,本文将应用于航空遥感领域的高精度GNSS/INS组合导航系统放置在地面平台上,采集试验数据,通过与NRTK定位结果比较,对组合导航系统定位精度进行分析,得出GNSS/INS组合导航系统的定位精度可达到厘米级的试验结论。     

城市环境下多系统实时PPP/MEMS INS紧组合模型构建与性能分析

以GNSS和INS为代表的传感器提供的高精度实时位置是自动驾驶、智能交通等领域的重要基础。为提升GNSS和MEMS INS在城市环境下的实时定位性能,本文利用IGS播发的实时精密轨道和钟差改正数,构建了多系统实时PPP/MEMS INS紧组合模型,分析和评估了多系统实时PPP与PPP/MEMS INS紧组合的性能,并与事后精密产品获得的结果进行对比。试验结果表明,在GNSS短时中断期间,多系统PPP/MEMS INS紧组合可以实现连续可靠定位;水平和高程分量的定位精度分别可达0.374和0.339 m,但与事后精密产品相比仍有差距,点位定位精度相差约为0.15 m。PPP/INS紧组合的测速及定姿精度主要取决于INS,测速精度约为1 cm/s,与使用IGS事后产品得到的结果相比,无明显差异;航向角的可观测性较弱,静止期间航向角误差明显增加。     

GPS/INS松组合与紧组合的实现与定位精度比较

GPS/INS组合导航技术包括两种组合模式:松组合与紧组合.在此分别给出了两种组合模式的算法,编程实现了GPS/INS松组合、紧组合两种组合导航的算法,并在此基础上根据车载组合导航的实测数据,对定位精度进行了比较分析,得出紧组合相比于松组合能够获得更好的定位精度.     

定角圆锥扫描式机载激光测深系统定位模型与精度评价

从定角圆锥扫描式机载激光测深系统激光测距仪内部结构出发,推导了棱镜、大气、海水中激光光线方向矢量方程,结合GPS/INS定位定姿系统,推导出激光脚点在成图坐标系中的定位模型。充分考虑对机载激光测深系统定位精度产生影响的各个因素,通过误差传播定律给出了圆锥扫描式机载激光测深系统的综合精度评价模型。参照国际上应用广泛的相关仪器系统参数、指标,对机载激光测深系统的定位精度进行实际计算,并对定位模型中涉及的主要误差源进行分析和讨论。     

固定区间平滑滤波增强UWB/INS/NHC组合算法研究

针对当前室内位置服务技术难以同时满足定位的高精度性、连续性和和可靠性等显著问题,本文提出了一种多传感器数据融合室内定位算法,综合利用超宽带(Ultra-Wide Band,UWB)的室内高精度定位特性、惯性导航系统(Inertial Navigation System,INS)的自主定位和短期高精度定位特性,在非完整性约束模型(Non-Holonomic Constraint,NHC)的辅助下,采用固定区间平滑滤波,实现室内高精度连续定位.实测数据分析结果表明:1)UWB能实现分米级的定位和测速精度;2)在INS、NHC和固定区间平滑滤波的辅助下,可实现厘米级的平面定位精度和分米级的高程定位精度,测速精度达到优于3 cm/s;3)在UWB定位性能较差的环境下,NHC、INS和RTS对UWB定位性能的改善最为明显.     

不同月球重力场模型的比较与分析

针对3个不同时期解算的月球重力场模型特点,对重力场模型的功率谱和地形相关性进行了分析。基于LP150Q、SGM100i和GL0660B月球自由空气重力异常的比较,研究分析了月球重力场的特征。结果表明,所有的重力场模型都能很好地反映月球正面的重力场特征。基于星间Ka波段测速数据解算的GRAIL系列模型不仅分辨率得到了较大的提高,而且能更好地反映月球背面的重力场信息。     

月球重力场模型GL0660B特征分析及其对绕月卫星轨道的影响

月球重力场可用来研究月球演化过程和内部结构,是影响绕月卫星精密定轨的重要因素。基于GRAIL任务数据解算的GL0660B重力场模型,极大提高了月球重力场空间频谱信号的强度和范围。本文首先通过计算相应重力场的阶方差和地形相关性分析,对GL0660B模型进行了精度分析;其次,利用GL0660B模型和其他几个月球重力场模型进行比较,对月球重力场的特征进行了分析;然后通过绘制GL0660B模型和LP150Q模型在月球外部不同高度处的重力异常图,分析比较了月球重力场模型在不同高度上所反映的月球重力场的特征和差异;最后,利用GEODYN软件模拟计算了不同高度卫星的轨道变化。可以看出绕月卫星离心率随时间的变化,以及周期性变化趋势,而且不同高度卫星轨道处质量瘤的摄动影响不同,远月点、近月点和偏心率的变化也存在差异。     

GNSS/INS组合车辆协同精密定位方法

自动驾驶和智能交通要求载体的高精度定位,更要求载体之间的高精度协同控制。当前依靠增加传感器来提升载体定位精度的研究思路依然无法有效解决卫星信号长时间失锁的复杂情况。本文提出了基于GNSS/INS组合的载体协同高精度定位方法,通过建立载体之间的相对位置关系来实现载体间观测值的共享,从而提升载体的定位精度和可信度。试验结果表明,GNSS/INS组合的协同定位模式相比于单独定位模式能显著改善载体恶劣环境下的定位精度。     

新近月球重力场模型的比较与分析

针对以往和新近高阶月球重力场模型,利用多种方式分析和比较了不同重力场模型的功率谱和自由空气重力异常,仿真计算了不同高度、不同倾角、不同重力场模型对探月卫星轨道演化的影响。所有重力场模型对近极轨卫星轨道的影响相同,均适用于近极轨卫星的精密定轨。CEGM02、SGM100h、SGM150较适用于非极轨绕月卫星的精密定轨。未来探月活动可以考虑发射非极轨卫星,进一步完善月球重力场模型。在月球重力场全球模型的基础上,使用局部球谐函数方法,可以对局部重力场进行补充,以完善全球重力场模型。     

GAINS中重力传感器信息的扰动改正

重力辅助惯性导航系统GAINS(Gravity Aided Inertial Navigation System)是利用地球物理特征信息──重力来完成水下运动载体的辅助惯性导航与定位。为实现重力匹配以校正惯性导航随时间累积的误差,首先必须对重力传感器输出信息进行扰动改正。分析了水下运动状态下重力传感器受到的各种重力扰动,如垂直扰动加速度、水平扰动加速度以及厄特弗斯效应影响所产生的原因,研究了扰动误差模型与INS导航精度之间的关系,并通过计算,提出了可直接以INS输出数据而无需其它外部有源导航信息进行扰动分离的方法。     

GAINS中重力传感器信息的扰动改正

重力辅助惯性导航系统GAINS(Gravity Aided Inertial Navigation System)是利用地球物理特征信息重力来完成水下运动载体的辅助惯性导航与定位.为实现重力匹配以校正惯性导航随时间累积的误差,首先必须对重力传感器输出信息进行扰动改正.分析了水下运动状态下重力传感器受到的各种重力扰动,如垂直扰动加速度、水平扰动加速度以及厄特弗斯效应影响所产生的原因,研究了扰动误差模型与INS导航精度之间的关系,并通过计算,提出了可直接以INS输出数据而无需其它外部有源导航信息进行扰动分离的方法.     

New results in airborne vector gravimetry using strapdown INS/DGPS

A method for airborne vector gravimetry has been developed. The method is based on developing the error dynamics equations of the INS in the inertial frame where the INS system errors are estimated in a wave estimator using inertial GPS position as update. Then using the error-corrected INS acceleration and the GPS acceleration in the inertial frame, the gravity disturbance vector is extracted. In the paper, the focus is on the improvement of accuracy for the horizontal components of the airborne gravity vector. This is achieved by using a decoupled model in the wave estimator and decorrelating the gravity disturbance from the INS system errors through the estimation process. The results of this method on the real strapdown INS/DGPS data are promising. The internal accuracy of the horizontal components of the estimated gravity disturbance for repeated airborne lines is comparable with the accuracy of the down component and is about 4–8 mGal. Better accuracy (2–4 mGal) is achieved after applying a wave-number correlation filter (WCF) to the parallel lines of the estimated airborne gravity disturbances.     

重力场对惯性导航定位误差影响研究与仿真

从惯性导航力学编排方程出发,将高阶重力场模型代替正常重力模型,分析了扰动重力引起的惯性导航误差;并从另一角度,对理想状态下扰动重力对惯性导航的影响进行了仿真分析,结果表明扰动重力影响显著。通过将重力垂线偏差分量引入惯性导航方程,改善传统方程的缺陷,探讨了垂线偏差对惯性导航的影响。在全面论述了扰动重力和重力垂线偏差对惯性导航的影响的基础上,结合实际情况提出了进行重力场误差补偿的两种方法。     

重力场对惯性导航定位误差影响研究与仿真

从惯性导航力学编排方程出发,将高阶重力场模型代替正常重力模型,分析了扰动重力引起的惯性导航误差;并从另一角度,对理想状态下扰动重力对惯性导航的影响进行了仿真分析,结果表明扰动重力影响显著.通过将重力垂线偏差分量引入惯性导航方程,改善传统方程的缺陷,探讨了垂线偏差对惯性导航的影响.在全面论述了扰动重力和重力垂线偏差对惯性导航的影响的基础上,结合实际情况提出了进行重力场误差补偿的两种方法.     

Airborne vector gravimetry using precise,position-aided inertial measurement units

Vector gravimetry using a precise inertial navigation system continually updated with external position data, for example using GPS, is studied with respect to two problems. The first concerns the attitude accuracy requirement for horizontal gravity component estimation. With covariance analyses in the space and frequency domains it is argued that with relatively stable uncompensated gyro drift, the short-wavelength gravity vector can be estimated without the aid of external attitude updates. The second problem concerns the state-space estimation of the gravity signal where considerable approximations must be assumed in the gravity model in order to take advantage of the ensemble error estimation afforded by the Kalman filter technique. Gauss-Markov models for the gravity field are specially designed to reflect the attenuation of the signal at a specific altitude and the omission of the long-wavelength components from the estimation. With medium accuracy INS/GPS systems, the horizontal components of gravity with wavelengths shorter than 250 km should be estimable to an accuracy of 4–6 mgal (µg); while high accuracy systems should yield an improvement to 1–2 mgal.     

Flight test results from a strapdown airborne gravity system

In June 1995, a flight test was carried out over the Rocky Mountains to assess the accuracy of airborne gravity for geoid determination. The gravity system consisted of a strapdown inertial navigation system (INS), two GPS receivers with zero baseline on the airplane and multiple GPS master stations on the ground, and a data logging system. To the best of our knowledge, this was the first time that a strapdown INS has been used for airborne gravimetry. The test was designed to assess repeatability as well as accuracy of airborne gravimetry in a highly variable gravity field. An east-west profile of 250 km across the Rocky Mountains was chosen and four flights over the same ground track were made. The flying altitude was about 5.5km, i.e., between 2.5 and 5.0km above ground, and the average flying speed was about 430km/h. This corresponds to a spatial resolution (half wavelength of cutoff frequency) of 5.07.0km when using filter lengths between 90 and 120s. This resolution is sufficient for geoid determination, but may not satisfy other applications of airborne gravimetry. The evaluation of the internal and external accuracy is based on repeated flights and comparison with upward continued ground gravity using a detailed terrain model. Gravity results from repeated flight lines show that the standard deviation between flights is about 2mGal for a single profile and a filter length of 120s, and about 3mGal for a filter length of 90s. The standard deviation of the difference between airborne gravity upward continued ground gravity is about 3mGal for both filter lengths. A critical discussion of these results and how they relate to the different transfer functions applied, is given in the paper. Two different mathematical approaches to airborne scalar gravimetry are applied and compared, namely strapdown inertial scalar gravimetry (SISG) and rotation invariant scalar gravimetry (RISG). Results show a significantly better performance of the SISG approach for a strapdown INS of this accuracy class. Because of major differences in the error model of the two approaches, the RISG method can be used as an effective reliability check of the SISG method. A spectral analysis of the residual errors of the flight profiles indicates that a relative geoid accuracy of 23cm over distances of 200km (0.1 ppm) can be achieved by this method. Since these results present a first data analysis, it is expected that further improvements are possible as more refined modelling is applied. Received: 19 August 1996 / Accepted: 12 May 1997     

新型地籍测绘模式初探

地籍测量的特殊性要求其测绘精度高,速度快。从我国政策和现状来看,当前快速的经济建设要求更高效的地籍变更测量模式。然而目前在地籍测量方面最常用的测量模式效率低下,精度损失严重,不能有效反映土地现状,无法为经济建设提供可靠依据。鉴于GPS/INS新型测量模式的独特优势,提出将GPS/INS应用于地籍测量领域。初步设计了GPS/INS进行地籍测量的思路,并结合GPS和INS的优缺点,提出了注意事项。考虑到研究现状,指出了这一设想实现需解决的关键技术。     

GPS/Pseudolite/INS integration: concept and first tests

This paper discusses the introduction of pseudolites (ground-based GPS-like signal transmitters) into existing integrated GPS/INS systems in order to provide higher availability, integrity, and accuracy in a local area. Even though integrated GPS/INS systems can overcome inherent drawbacks of each component system (line-of-sight requirement for GPS, and INS errors that grow with time), performance is nevertheless degraded under adverse operational circumstances. Some typical examples are when the duration of satellite signal blockage exceeds an INS bridging level, resulting in large accumulated INS errors that cannot be calibrated by GPS. Such a scenario, unfortunately, is a common occurrence for certain kinematic applications. To address such shortcomings, both pseudolite/INS and GPS/pseudolite/INS integration schemes are proposed here. Typically, the former is applicable for indoor positioning where the GPS signal is unavailable for use. The latter would be appropriate for system augmentation when the number and geometry of visible satellites is not sufficient for accurate positioning or attitude determination. In this paper, some technical issues concerned with implementing these two integration schemes are described, including the measurement model, and the appropriate integration filter for INS error estimation and correction through GPS and pseudolite (PL) carrier phase measurements. In addition, the results from the processing of simulated measurements, as well as field experiments, are presented in order to characterize the system performance. As a result, it has been established that the GPS/PL/INS and PL/INS integration schemes would make it possible to ensure centimeter-level positioning accuracy even if the number of GPS signals is insufficient, or completely unavailable. Electronic Publication     

Comparing the Kalman filter with a Monte Carlo-based artificial neural network in the INS/GPS vector gravimetric system

Rigorous physical and mathematical analysis has been intensively developed to obtain the gravity disturbance vector from the inertial navigation system and the global positioning system. However, the combination of the observation noise and the systematic INS errors make it very challenging to accurately and efficiently describe the dynamics of the system with rigorous equations. Thus, the accuracy of the gravity disturbance estimates, especially in the horizontal components, is limited by the insufficient error models. To overcome the difficulty of directly modeling the systematic errors with exact mathematical equations, a Monte Carlo based artificial neural network is successfully applied in the moving base gravimetric system. The computation results show significant improvement in the precision of all components of the gravity disturbance estimates.