北斗系统多路径误差特性分析与消除策略

为了消除影响北斗系统高精度导航服务性能的多路径误差,文章基于实测数据提取多路径误差并分析其所具有的特性,探讨不同定位解算方式中的多路径误差消除策略。结果表明,多路径误差实时改正后的单点定位结果相比原数据解算结果有明显提高;基于北斗多路径误差周期的恒星日滤波算法消除了部分周期误差,基线解算坐标时间序列的精度有了明显的提高。这两种针对多路径误差的改正方法可以为北斗系统数据处理提供参考。     

基线解算质量与多路径效应影响分析

现主要介绍了双频接收机伪距多路径效应的计算方法,在进行相对定位时,选择较小多路径影响的测站作为参考站,能有效减小多路径误差的影响,提高相对定位结果的精度.通过宜昌地区实测控制网数据,设计实验对比分析了参考站多路径误差对基线解算结果的影响,结果发现参考站伪距多路径效应较小时,基线解算结果精度明显提高,对变形监测和控制网解算具有一定的指导意义.     

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。     

大型斜拉桥环境下BDS/GPS观测数据质量分析

为了进一步提高大型斜拉桥环境下BDS系统的监测精度,进一步对相关影响进行分析处理,以苏通大桥为试验对象,通过采集不同部位的站点BDS/GPS卫星观测数据,采用自编的BDS观测数据质量分析软件与TQEC软件对观测数据的完整性、观测值与周跳比、卫星信号信噪比及多路径误差等进行计算分析。结果表明,BDS卫星数据完整性优于GPS,但信噪比与多路径误差不及GPS稳定,同时桥面观测环境下的各项指标低于岸边观测环境。因此在采用BDS进行桥梁监测时,在误差处理与解算方法上必须考虑桥梁环境的影响,特别是对多路径的处理,以更有效分离变形。     

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。     

利用信噪比削弱GPS多路径效应的研究

由于多路径误差的非时空相关性,使其成为双差模型中较难解除的误差源。本文利用观测值的信噪比对观测值质量进行评价,通过降低受多路径效应影响的观测值的权重,从而达到削减多路径误差的目的。最后通过实验数据解算结果的重复性验证了此方法的有效性和可靠性。     

BDS-3/BDS-2多频数据的长距离非差网络RTK算法

北斗三号卫星导航系统(BeiDou-3 satellite navigation system,BDS-3)已正式建成并提供服务,网络实时动态定位（real time kinematic,RTK）算法是提高北斗卫星导航系统（BeiDou satellite navigation system,BDS）定位精度的主要手段。提出了一种基于BDS多频多系统观测数据的长距离非差网络RTK算法。首先,通过顾及大气误差参数的多频载波相位整周模糊度解算模型,确定长距离BDS参考站的多频载波相位整周模糊度。然后,利用准确确定的参考站间载波相位整周模糊度,通过线性变化得到各参考站的非差整周模糊度,并计算各参考站的非差观测误差。考虑长距离测站间观测误差空间相关性减弱的特点,根据误差特性的不同分离出参考站网分类的非差误差改正数。最后,采用反距离加权法计算流动站的分类非差误差改正数,流动站通过非差误差改正数进行观测误差的改正和高精度定位。使用长距离连续运行参考站网的多频实测数据进行实验,结果表明：BDS-3的定位精度相对于北斗二号卫星导航系统(BeiDou-2 satellite navigation sys...     

陆态网络数据的北斗观测值特性分析

为了进一步分析北斗卫星观测值的相关特性,文章对比北斗卫星与GPS卫星、以及不同类型北斗卫星之间观测值特性的差异,提出了用站间差分考察伪距多路径组合和GFIF组合观测值的方法。陆态网络数据实验结果显示,北斗卫星B1频率观测值的信噪比最低;高度角较低时,北斗卫星伪距多路径组合绝对值和离散度均较大,约为1.5m,且IGSO和MEO卫星的伪距多路径组合值随高度角增大而明显降低;北斗GEO和IGSO卫星的相位GFIF组合有日周期性,变化范围约为±2cm,伪距GFIF组合的变化范围可达±2m;站间差分可明显减弱伪距多路径组合的变化趋势和相位GFIF组合的周期性,表明这两个组合中可能包含与卫星相关的误差,为北斗观测数据误差处理提供参考。     

利用双极性天线探测及削弱多路径效应的方法

多路径效应是影响卫星定位精度和稳定性的重要因素.由于多路径误差的非时空相关性,使其成为双差模型中较难解除的误差源.针对多路径环境复杂多变、难以进行分析的问题,提出一种利用双极性天线探测多路径的方法,同时提出基于双极性天线左右旋载噪比输出值之差衡量卫星质量的方法.若左右旋载噪比输出值之差较大,则认为卫星质量较好;否则,则认为此卫星质量较差.利用开源程序包(RTKLIB)进行基线解算的过程中剔除此卫星,使此卫星不参与基线解算的过程,若剔除此卫星前后解算结果的固定率有所提高,则认为多路径效应有所削弱.     

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。     

削弱GNSS多路径效应的半天球格网点建模方法

多路径效应与测站观测环境相关,无法利用差分的方式消除或削弱,是GPS精密数据处理时的主要误差源。为此,本文提出了一种利用半天球格网点模型削弱测站多路径误差影响的新方法MHGM(multi-point hemispherical grid model)。该方法对以测站为球心的半天球进行格网点划分,通过格网点的参数化描述,实现测站处多路径误差建模,可适用于现有各类GPS数据处理的软硬件设备和观测环境。本文算例的测试结果表明,采用新方法建模后双差观测值残差的RMS均值改善率平均在73.9%左右,较传统恒星日滤波方法的改善效果平均可提升26.9%,对于静态观测数据,按实时动态相对定位处理模式可获得平面精度约1.7 mm,高程精度约3.0 mm的定位结果。此外,MHGM模型还可进一步用于对测站周边可能存在的多路径误差源进行方位评估,对从物理意义上消除多路径误差源的影响给出一定的指导性意见。     

城市CORS系统数据质量检核与评估分析

针对传统GPS数据分析软件可视化效果不高的情况,本文采用Matlab对TEQC处理的常州武进CZWJ站单天数据质量进行检测,重新绘制图像,提高可视性便于评估分析,利用Python结合TEQC、QC2SKY等软件对常州市CORS系统5个CORS基准站5个季度观测数据分别从数据完整率、头文件信息和数据质量3项指标进行了评估分析,结果表明:常州5个站的数据质量均非常稳定,受多路径效应影响较小,各基准站空间分布合理,能较好地覆盖常州市各行政区划,可作为区域地表变形的监测网。     

基于多路径效应的植被覆盖研究

测站周围的环境会对GPS观测产生多路径效应影响,利用TEQC软件分析武汉九峰台站的近十年的GPS数据,并对结果进行了频谱分析,发现GPS多路径效应与台站周围植被覆盖情况存在着一致的周年的变化规律。因此,可以利用GPS的多路径效应来研究植被覆盖率的变化。     

GPS/VRS 参考站网络的对流层误差建模技术研究

在虚拟参考站(VRS)技术中,参考站与流动站间的高程差异会引起对流层误差改正数中存在系统偏差影响,使对流层改正精度降低。在常规网络内插改正模型的基础上,借助先验对流层模型,提出了一种能自主修正高程偏差的距离相关对流层网络内插模型(MHDIM)。基于四川GPS连续运行参考站网络(Sichuan GPS Reference Station Network-SGRSN)实际测试数据的分析表明,对于地形变化较大的中长距离稀疏GPS/VRS参考站网络(如流动站与参考站间高程差异大于500m),应用MHDIM模型可使对流层延迟误差改正精度提高到2到3cm并实现cm级网络RTK定位结果,适用于GPS/VRS参考站网络cm级实时动态定位要求。     

On accuracy and reliability of instantaneous network RTK as a function of network geometry, station separation, and data processing strategy

The network-based approach to kinematic GPS positioning significantly increases the distance, over which carrier-phase ambiguity resolution can be performed. This can be achieved either by introducing geometric conditions based on the fixed reference locations, and/or through the use of reference network data to estimate the corrections to GPS observations that can be broadcast to the users. The Multi Purpose GPS Processing Software (MPGPS) developed at The Ohio State University uses the multiple reference station approach for wide area and regional differential kinematic GPS positioning. The primary processing algorithm uses the weighted free-net (WFN) approach with the distance-dependent weighting scheme to derive optimal estimates of the user coordinates and realistic accuracy measures. The WFN approach, combined with the single epoch (instantaneous) ambiguity resolution algorithm is presented here as one approach to real-time kinematic (RTK) GPS. Since for baselines exceeding ~100 km, the instantaneous ambiguity resolution may not always be possible due to the increasing observation noise and insufficient number of observations to verify the integer selection, an alternative approach, based on a single- (or multiple-) baseline solution, supported by a double-difference (DD) ionospheric delay propagated from the previous epoch is also presented. In this approach, some data accumulation, supported by the network-derived atmospheric corrections, is required at the beginning of the rover data processing to obtain the integer ambiguities; after this initialization period, the processing switches to the instantaneous RTK positioning mode. This paper presents a discussion on the effects of the network geometry, station separation and the data reduction technique on the final quality and reliability of the rover positioning solution. A 24-h data set of August 31, 2003, collected by the Ohio Continuously Operating Reference Station (CORS) network was processed by both techniques under different network geometry and reference station separation. Various solutions, such as (1) single-baseline solution for varying base-rover separation, (2) multi-baseline solution with medium-range base separation (over 100 km), and (3) multi-baseline solution with long-range base separation (up to 377 km), were obtained and compared for accuracy and consistency. The horizontal positioning accuracy achieved in these tests, expressed as the difference between the estimated coordinates and the known rover coordinates, is at the sub-decimeter level for the first approach, and at the centimeter-level for the second method, for baselines over 100 km. In the vertical coordinate, decimeter- and sub-decimeter levels were achieved for the two approaches, respectively. Even though all the results presented here were obtained in post-processing, both algorithms are suitable for real-time applications.     

An Overview of Multi-Reference Station Methods for cm-Level Positioning

Over the past few years, a significant amount of research has been conducted on the formulation of carrier phase corrections in order to enhance ambiguity resolution and to increase the distances over which precise positioning can be achieved. Recently the use of a network of multiple GPS reference stations for generating carrier phase-based corrections has emerged with great promise for use in real-time environments. However, little research has been conducted on the distribution of these corrections to potential GPS users located within, and surrounding, the network coverage area. This is an integral part of real-time kinematic DGPS, and it must be adequately addressed before a practical realization of the multireference station concept is implemented. The focus of this paper is to present a comprehensive summary of some of the multiple reference station methods, with specific attention directed toward the correction generation and dissemination processes. More specifically, the various multi-reference station methodologies have been categorized according to their underlying correction generation framework, but will be discussed in terms of the correction dissemination options presented by the various authors. The for main categories of methods investigated in this paper are: (a) partial derivative algorithms, (b) linear interpolation algorithms, (c) condition adjustment algorithms, and (d) virtual reference station methodologies. ? 2001 John Wiley & Sons, Inc.     

GPS snow depth meter with geometry-free linear combinations of carrier phases

Multipath in global positioning system (GPS) is the interference of the microwave signals directly from satellites and those reflected before reaching the antenna, typically by the ground. Because reflected signals cause positioning errors, GPS antennas are designed to reduce such interference. Recent studies show that multipath could be utilized to infer the properties of the ground around the antenna. Here, we report one such application, i.e. a fixed GPS station used as a snow depth meter. Because the satellite moves in the sky, the excess path length of reflected waves changes at rates dependent on the antenna height. This causes quasi-periodic variations of the amplitude and phase of the received signals. Accumulation of snow reduces effective antenna heights, and we can see it by analyzing multipath signatures. Signal-to-noise ratios (SNR) are often used to analyze multipath, but they are not always available in raw GPS data files. Here, we demonstrate that the geometry-free linear combination (L4), normally used to study the ionosphere, can also be used to analyze multipath signatures. We obtained snow depth time series at a GPS station in Hokkaido, Japan, from January to April in 2009 using L4 and SNR. Then, we compared their precisions. We also discuss mechanisms responsible for the possible underestimation of the snow depth by GPS. Finally, we investigate the possibility of inferring physical conditions of the snow surface using amplitudes of multipath signatures.     

超站式集成测绘系统STGPS的研究

介绍了超站式集成测绘系统STGPS的研究思想、研究目标、系统构成和功能;讨论了坐标转换和测绘基本服务问题;提出了无需作加密控制的即用即测作业模式。     

GPS网络差分方法与实验

GPS连续运行站由于具有多种优势,所以在我国逐步建立,并开始得到广泛应用。但对于距离基准站较远,且位于基准站网一侧的情况下,该如何进行高精度的实时/快速卫星定位?本文给出了一种GPS网络差分方法,通过该方法可实现远海的高精度实时/快速GPS定位。最后,模拟远海应用情况进行实测试验,实验结果证明:在基准站距离200~300km的情况下,用户在距离基准站网400km一侧的范围内,采用双频机可实现优于2m的实时高精度定位,5min快速静态的水平精度优于1m,观测20min可到达优于0.5m的水平定位精度。