基于北斗三频宽巷组合的RTK单历元定位方法

为发挥北斗三频超宽巷或宽巷模糊度易于固定的优势,提出一种利用宽巷观测值的北斗单历元定位方法。首先使用载波伪距组合求解最容易固定的(0,-1,1)组合模糊度,其次基于模糊度已固定的(0,-1,1)组合观测值通过CIR方法单历元求解第二个宽巷模糊度(1,-1,0)组合模糊度。(1,-1,0)组合观测值噪声和电离层延迟综合影响最优,因此基于(1,-1,0)组合观测值进行单历元坐标解算。实验结果表明,文中提出的单历元定位方法,能够依据单历元数据最终成功解算出地面点坐标,统计精度为平面2.2cm,高程5.4cm,在满足部分领域应用要求的情况下提高效率和抗干扰能力。     

BDS网络RTK参考站三频整周模糊度解算方法

北斗卫星导航系统是目前唯一一个全星座提供三频观测数据的卫星导航定位系统,三频观测值有助于载波相位整周模糊度的快速、准确固定。本文提出了一种BDS网络RTK参考站三频整周模糊度解算方法。首先利用B2、B3频率的观测值及严格的模糊度固定标准确定超宽巷整周模糊度,将固定的超宽巷整周模糊度与其他宽巷整周模糊度的线性关系作为约束条件,然后估计宽巷整周模糊度、相对天顶对流层延迟误差和电离层延迟误差,并搜索确定宽巷整周模糊度。利用固定的宽巷整周模糊度与三频载波相位整周模糊度的整数线性关系,将线性关系加入载波相位整周模糊度参数估计观测模型中,然后确定载波相位整周模糊度。使用实测的CORS网BDS三频观测数据进行算法验证,结果表明,该方法可正确有效地实现参考站间三频载波相位整周模糊度的快速解算。     

一种北斗卫星导航系统三频非差网络RTK方法

针对双差网络RTK(real-time kinematic)中测站和卫星间相关性导致数据处理复杂的问题,提出了一种北斗系统三频非差网络RTK方法。首先利用北斗系统三频超宽巷、宽巷和三频整周模糊度之间的整数线性关系确定参考站间双差整周模糊度。然后根据参考站间双差整周模糊度与非差整周模糊度的组合关系单历元快速确定参考站间非差整周模糊度。在此基础上,建立高精度非差区域误差改正模型,实现流动站观测值的误差改正和整周模糊度固定。使用实测的CORS(continuously operating reference stations)网三频观测数据进行算法验证,结果表明,该方法可有效克服双差网络RTK带来的测站和卫星间的相关性,使网络RTK的作业方式更加灵活。     

基于北斗三频的BDS/GPS宽巷模糊度逐级单历元固定方法

利用北斗三频超宽巷模糊度波长较长易于固定的优势,提出一种基于北斗三频的BDS/GPS宽巷模糊度逐级单历元固定方法。首先利用载波和伪距组合固定BDS(0,-1,1)和(1,4,-5)两个超宽巷模糊度,根据固定后的超宽巷模糊度变换得到BDS宽巷模糊度(1,-1,0),然后将BDS宽巷模糊度作为约束条件与GPS宽巷观测方程联立得到GPS宽巷模糊度浮点解和其方差协方差阵,最后采用LAMBDA算法实现GPS宽巷模糊度的固定。实验结果表明,BDS超宽巷组合可实现100%固定,采用BDS约束GPS宽巷模糊度固定时ratio值均大于2,大于5的占97.8%以上,因此文中提出的方法可实现BDS/GPS双系统宽巷模糊度单历元固定,有效提升GNSS模糊度解算的时效性。     

大范围网络RTK基准站间整周模糊度实时快速解算

网络RTK是目前实现高精度实时动态定位的重要手段之一,而网络RTK高精度定位的关键问题是基准站间整周模糊度的实时快速准确固定。对于大范围网络RTK,由于基准站间距离的增加,电离层延迟误差、对流层延迟误差和卫星轨道误差相关性降低,导致基准站间整周模糊度不能快速准确地固定,因此本文提出了一种大范围网络RTK基准站间整周模糊度固定算法。该算法首先利用L1、L2载波相位观测值和P1、P2伪距观测值解算基准站间的双差宽巷模糊度;然后采用Saastamoinen模型和Chao映射函数模型相结合解算双差对流层延迟误差,并将双差宽巷模糊度作为L1、L2双差载波相位整周模糊度的约束关系来确定L1、L2双差载波相位整周模糊度;最后采用CORS站的实测数据进行试验,并将本文的试验结果同GAMIT软件的解算结果进行比对,结果表明该算法可以快速准确地实现单历元双差载波相位整周模糊度的固定。     

北斗三频电离层延迟及码硬件延迟解算方法

准确固定非差模糊度是利用相位观测量获取高精度电离层延迟的关键。三频观测条件下常规的处理策略需依次固定超宽巷、宽巷以及窄巷模糊度,通常利用MW（melbourne-wubbena）组合解算宽巷模糊度时易受到码硬件延迟和观测噪声的影响而固定错误。利用北斗三频数据和GIM（grid ionosphenimap）产品,通过固定的超宽巷模糊度以及构造相位无几何组合解算宽巷模糊度,进而重构得到高精度电离层延迟,并且分离了码硬件延迟总量。结果表明,GIM模型辅助条件下宽巷模糊度固定成功率能达到100%,且消除了系统性偏差;电离层重构值与GIM模型改正值存在约1 m的差异,等效精度约6TECU;分离的码硬件延迟变化平稳,标准偏差不超过0.3 m。     

中长基线三频GNSS模糊度的快速算法

通过研究三频最优组合观测值,分析制约中长基线三频模糊度快速解算的主要因素是残留对流层延迟.在此基础上,提出一种中长基线三频模糊度快速解算新方法,该方法先以较高成功率快速固定两个超宽巷模糊度,然后用这两个模糊度固定的超宽巷组合与任一窄巷组合构成无几何误差和无电离层延迟的新组合.由于该组合只受随机噪声的影响,通过对多历元浮点模糊度平均值舍入取整即可准确地固定中长基线的窄巷模糊度.最后基于GPS双频观测数据生成的三频数据,验证了本文观点的正确性和新算法的有效性.     

基于北斗三频的实时变形监测数据处理

针对观测条件较差时,基于双频观测值的传统变形监测数据处理算法无法快速、可靠地固定原始频点模糊度的局限性,分析了GPS和北斗导航系统BDS不同解算模式下的单历元模糊度固定成功率,提出了基于北斗三频观测值的变形监测数据处理算法。该算法采用三频模糊度解算(three-carrier ambiguity resolution,TCAR)逐次固定超宽巷、宽巷、原始频点模糊度;在不能可靠固定原始频点模糊度时,通过观测值域恒星日滤波削弱宽巷多路径的影响,采用模糊度固定宽巷进行坐标解算。利用实测数据进行检验后的试算结果表明:TCAR单历元模糊度固定成功率较双频模式有了较大提高,但在观测条件较差时难以保证较高的成功率;而宽巷模糊度固定可达到100%的成功率;经观测值域恒星日滤波后宽巷固定解坐标水平方向均方根(root mean square,RMS)可达到7mm。     

三频北斗模糊度固定方法分析

以北斗系统为背景,介绍了三频组合观测值的特点,分析了双差三频组合观测值的误差影响因素。简单说明采用TCAR方法进行超宽巷和宽巷模糊度固定的方法,论证了采用超宽巷或宽巷组合来求解电离层延迟一阶改正的不可行性。     

长距离网络RTK实时厘米级定位算法

针对CORS系统建设成本高和选址困难的问题,该文提出GPS长距离网络RTK定位算法。该算法首先利用MW组合观测方程解算基准站双差宽巷整周模糊度,采用Saastamoinen模型和GMF映射函数模型相结合解算双差对流层干分量延迟残差,并将双差对流层湿分量延迟残差作为未知参数进行估计,同时结合无电离层组合观测值解算基准站双差载波整周模糊度;然后,采用综合误差内插法解算基准站和流动站的误差改正数;最后,采用最小二乘法逐历元进行法方程叠加解算流动站双差模糊度浮点解,并利用LAMBDA算法和通过TIKHONOV正则化改进的LAMBDA算法搜索固定流动站双差宽巷整周模糊度和双差载波整周模糊度。实验表明,该算法能够将基准站间距离提高到100~150km,使流动站用户可以获得厘米级定位结果。     

Improved network-based single-epoch ambiguity resolution using centralized GNSS network processing

Network real-time kinematic (NRTK) positioning is today’s industry standard for high-precision applications. Once network ambiguities are fixed, the network engine processes simultaneous observations from a number of continuously operating reference stations to compute corrections for users operating within the network area. Users are treated as passive nodes of the network. However, if two-way communication is available, then users could transmit their observations to the central processing facility where the network can treat them as active nodes, densifying the existing network infrastructure. This multiple rover network (MRN) concept exploits the additional information provided by users in a GNSS network. One application is to use the shorter inter-receiver distances to improve the success rate of single-epoch ambiguity resolution. This is also the goal of the subset ambiguity resolution algorithm, which improves the single-epoch success rate by allowing a subset of ambiguities to be resolved. We present an enhanced processing strategy to complement centimeter-level single-epoch NRTK positioning. This approach combines a single-baseline and an MRN solution with the partial ambiguity resolution algorithm and is only possible for a centralized GNSS network architecture. The algorithm is tested against the standard network ambiguity resolution strategy of full-set ambiguity fixing with respect to the nearest reference station. A 24-h dataset from the Southern California Integrated GNSS network is used with a configuration of three reference stations and four users. The enhanced solution achieves a mean ambiguity resolution success rate of 83% over all four users and all epochs, compared to 32% for the conventional technique.     

长距离GPS/BDS双系统网络RTK方法

基于区域参考站网的网络实时动态定位(real-time kinematic,RTK)方法是实现全球定位系统(global positioning system,GPS)、北斗卫星导航系统(BeiDou satellite navigation system,BDS)高精度定位的主要手段。研究了一种长距离GPS/BDS双系统网络RTK方法,首先采用长距离参考站网GPS/BDS多频观测数据确定宽巷整周模糊度,利用引入大气误差参数的参数估计模型解算GPS/BDS双差载波相位整周模糊度;然后按照长距离参考站网观测误差特性的不同,分类处理参考站观测误差,利用误差内插法计算流动站观测误差,以改正流动站GPS/BDS双系统载波相位观测值的观测误差;最后使用流动站多频载波相位整周模糊度解算方法确定GPS/BDS载波相位整周模糊度并解算位置参数。使用长距离连续运行参考站(continuously operating reference stations,CORS)网的实测数据进行实验,结果表明,该方法能够利用长距离GPS/BDS参考站网实现流动站的厘米级定位。     

北斗卫星导航系统双差网络RTK方法

针对北斗卫星导航系统常规实时动态差分(RTK)定位中,整周模糊度的快速解算和流动站位置信息的解算精度问题,该文研究了一种北斗卫星导航系统双频双差网络RTK方法,首先解算参考站网B1、B2载波相位整周模糊度,利用固定的参考站网载波相位整周模糊度计算参考站的观测误差,使用区域误差内插法计算流动站的综合误差影响,改正流动站的观测误差并进行流动站的整周模糊度解算,最后使用实测数据进行算法实验。实验结果表明,该文的方法可以利用北斗卫星导航系统双频观测数据实现网络RTK流动站的厘米级定位。     

GNSS ambiguity resolution with controllable failure rate for long baseline network RTK

Many large-scale GNSS CORS networks have been deployed around the world to support various commercial and scientific applications. To make use of these networks for real-time kinematic positioning services, one of the major challenges is the ambiguity resolution (AR) over long inter-station baselines in the presence of considerable atmosphere biases. Usually, the widelane ambiguities are fixed first, followed by the procedure of determination of the narrowlane ambiguity integers based on the ionosphere-free model in which the widelane integers are introduced as known quantities. This paper seeks to improve the AR performance over long baseline through efficient procedures for improved float solutions and ambiguity fixing. The contribution is threefold: (1) instead of using the ionosphere-free measurements, the absolute and/or relative ionospheric constraints are introduced in the ionosphere-constrained model to enhance the model strength, thus resulting in the better float solutions; (2) the realistic widelane ambiguity precision is estimated by capturing the multipath effects due to the observation complexity, leading to improvement of reliability of widelane AR; (3) for the narrowlane AR, the partial AR for a subset of ambiguities selected according to the successively increased elevation is applied. For fixing the scalar ambiguity, an error probability controllable rounding method is proposed. The established ionosphere-constrained model can be efficiently solved based on the sequential Kalman filter. It can be either reduced to some special models simply by adjusting the variances of ionospheric constraints, or extended with more parameters and constraints. The presented methodology is tested over seven baselines of around 100 km from USA CORS network. The results show that the new widelane AR scheme can obtain the 99.4 % successful fixing rate with 0.6 % failure rate; while the new rounding method of narrowlane AR can obtain the fix rate of 89 % with failure rate of 0.8 %. In summary, the AR reliability can be efficiently improved with rigorous controllable probability of incorrectly fixed ambiguities.     

BDS/GPS非差误差改正数的实时动态定位方法

针对我国地区观测数据的实验定位结果精度问题,该文提出BDS/GPS非差误差改正数的实时动态定位方法,研究了BDS/GPS单参考站非差实时动态定位算法模型,流动站使用非差误差改正数,不需要进行双差观测值的组合。参考站将非差误差改正数传递给流动站,对流动站的观测值进行误差改正,可以直接固定流动站的模糊度。实验表明:在我国南方地区BDS精度要优于GPS,而在北方地区,BDS/GPS定位精度和GPS定位精度明显优于BDS。并且与单系统相比,组合系统的可视卫星数明显增加,改善了卫星空间几何分布结构,从而提高了导航定位的可用性和精度。     

Performance assessment of single- and dual-frequency BeiDou/GPS single-epoch kinematic positioning

The first results of the short baseline single-epoch kinematic positioning based on dual-frequency real BeiDou/GPS data are presented. The performance of the BeiDou/GPS single-epoch positioning is demonstrated in both static and kinematic modes and compared with corresponding GPS-only performance. It is shown that the availability and reliability of the single-frequency BeiDou/GPS and dual-frequency BeiDou single-epoch kinematic positioning are comparable to those of the dual-frequency GPS. The fixed rate and reliability of ambiguity resolution for the single- and dual-frequency BeiDou/GPS are remarkably improved as compared to that of GPS-only, especially in case of high cutoff elevations. For positioning accuracy with fixed ambiguities, the BeiDou/GPS single-epoch solutions are improved by 23 and 4 % relative to the GPS-only case for two short baseline tests of 8 km, respectively. These results reveal that dual-frequency BeiDou real-time kinematic (RTK) is already applicable in Asia–Pacific areas and that single-frequency BeiDou/GPS RTK is also achievable but only with initialization of several seconds. More promisingly, the dual-frequency BeiDou/GPS RTK can overcome the difficulties with GPS-only RTK under the challenging conditions assuming, of course, that the additional BeiDou satellites are visible.     

URTK: undifferenced network RTK positioning

Standard network RTK has been widely used since it was proposed in the mid-1990s. Rovers can obtain high-precision estimates of position by resolving double-differenced (DD) ambiguities. The focus of this study is a new undifferenced network RTK method, abbreviated as URTK hereafter, based on undifferenced (UD) observation corrections whose single-differenced (SD) ambiguities between satellites can be resolved in several seconds. The tools for studying the real-time realization of the new method are our developments of logical schemes that have the capability for the real-time modeling of a reference network and the instantaneous resolution of SD ionosphere-free (IF) ambiguities at a single station. This research demonstrates the validity of modeling regional UD-unmodeled errors on the ground and examines the maximum differences when compared to modeling the errors using ionospheric pierce points (IPP). With data collected at 48 stations from a CORS network in Shanxi Province (SXCORS) in China through May 21, 2010, the efficiency of the presented real-time strategies is validated using IGS final products in a postprocessing mode. The results verify that more than 83 % of SD wide-lane (WL) ambiguity can be fixed with 5 s of observation data, and the average resolution time of all the WL tests is 4.96 s. More than 80 % of SD L1 ambiguity can be fixed within 5 s, and the average resolution time is only 6.66 s. Rovers could gain rapidly centimeter-level absolute positioning service, comparable to standard network RTK. In addition, the URTK method transforms the fixed DD-ambiguities of the reference network into UD-ambiguities, and it does not need to set the base station and base satellite. Since the UD-corrections are modeled for each common visible satellite, it breaks down the connections between stations and satellites of the DD-corrections in the current network RTK. The UD-corrections can be broadcast by the base station and automatically selected and optimized by a rover during the real-time kinematic processing, thus avoiding ambiguity in reinitialization due to the change of reference, so it should be very flexible and useful for a wide range of applications.     

长基线GLONASS模糊度固定方法及实验分析

格洛纳斯（Global Navigation Satellite System，GLONASS）采用了频分多址技术，接收机在接收不同卫星信号时会产生频间偏差，阻碍了GLONASS长基线模糊度固定，限制了其定位定轨的精度。提出了一种新的GLONASS模糊度固定方法。该方法基于全球电离层格网产品，根据频间偏差率的变化范围，采用搜索的方法和线性模型去除相位频间偏差对宽窄巷模糊度的影响，实现了GLONASS无电离层组合模糊度固定。利用平均基线长度为763 km的全球卫星导航系统（Global Navigation Satellite System，GNSS）服务站实验网数据对该方法进行分析，结果表明:连续30 d内，模糊度固定成功率最高为95.4%，最低为88.8%，平均为93.45%；模糊度固定后，北（north，N）、东（east，E）、高（up，U）各分量重复性和均方根误差（root mean square er-ror，RMSE）值均得到不同程度的改善，E分量重复性和RMSE值分别改善了20%和14%，改善效果最为明显。     

基于多普勒测速的GPS单历元动态定位算法

在传统的GPS单历元动态定位参数估计中,由于先验约束信息较少,模糊度求解和定位性能往往较低。据此,研究了多普勒测速在GPS单历元动态定位中的应用,提出了一种附有GPS多普勒测速信息约束的坐标更新方法,即利用移动载体先验坐标和多普勒测速信息预测当前历元坐标。考虑到该方法进行坐标更新的精度较高和传统单点定位坐标更新的稳健性较强等特点,在此基础上给出了相应的单历元整周模糊度参数求解策略,进一步提高了该方法的定位性能。试验结果表明,所提出的算法相对于传统的无速度信息坐标约束的GPS单历元动态定位算法,其模糊度浮点解精度、模糊度固定率和平均定位精度均有了进一步提高,尤其是在观测卫星数较少、卫星几何结构较差的情况下更为明显。     

Analysis of long-range network RTK during a severe ionospheric storm

The network-based GPS technique provides a broad spectrum of corrections to support RTK (real-time kinematic) surveying and geodetic applications. The most important among them are the ionospheric corrections generated in the reference network. The accuracy of these corrections depends upon the ionospheric conditions and may not always be sufficient to support ambiguity resolution (AR), and hence accurate GPS positioning. This paper presents the analyses of the network-derived ionospheric correction accuracy under extremely varying – quiet and stormy – geomagnetic and ionospheric conditions. In addition, the influence of the correction accuracy on the instantaneous (single-epoch) and on-the-fly (OTF) AR in long-range RTK GPS positioning is investigated, and the results, based on post-processed GPS data, are provided. The network used here to generate the ionospheric corrections consists of three permanent stations selected from the Ohio Continuously Operating Reference Stations (CORS) network. The average separation between the reference stations was ∼200 km and the test baseline was 121 km long. The results show that, during the severe ionospheric storm, the correction accuracy deteriorates to the point when the instantaneous AR is no longer possible, and the OTF AR requires much more time to fix the integers. The analyses presented here also outline the importance of the correct selection of the stochastic constraints in the rover solution applied to the network-derived ionospheric corrections.