基于卡尔曼滤波的GPS高动态载波跟踪环路设计

针对高动态环境会使接收机接收信号载频上产生很大的多普勒频移及其变化率,普通的GPS载波跟踪环无法保证可靠的跟踪等问题,通过综合分析传统的二阶叉积自动频率控制环(CPAFC)辅助三阶锁相环(PLL)的高动态载波跟踪环路,以及卡尔曼滤波器在动态跟踪中的优势与劣势,该文设计了一种基于卡尔曼滤波的二阶CPAFC辅助三阶PLL的GPS高动态载波跟踪环路。通过仿真分析证明,新的环路能更好地适应动态性,整体跟踪性能更好;并且在信噪比较低的情况下,环路优势更明显。     

Tuning a Kalman filter carrier tracking algorithm in the presence of ionospheric scintillation

GPS Solutions - Strong ionospheric electron content gradients may lead to fast and unpredictable fluctuations in the phase and amplitude of the signals from Global Navigation Satellite Systems...     

Performance analysis and design of the optimal frequency-assisted phase tracking loop

GPS Solutions - The frequency-assisted phase tracking (FAPT) is investigated extensively in comparison with the phase tracking (PT) in a Kalman filter (KF) frame to explore the role the augmented...     

Robust multiple update-rate Kalman filter for new generation navigation signals carrier tracking

GPS Solutions - The study of ionospheric scintillation has played a critical role in ionospheric research and also in satellite positioning. This is due to the growing influence of GNSS in...     

Analysis of a variational Bayesian adaptive cubature Kalman filter tracking loop for high dynamic conditions

GPS Solutions - Under high dynamic conditions, a robust tracking loop is essential for accuracy positioning with the global position system. In previous studies, the extended Kalman filter...     

高动态载波锁相环设计和性能分析

常规的二阶载波跟踪环路由于环路带宽的限制,无法满足接收机高动态条件下的环路跟踪,为了解决环路的高动态应力引起的噪声响应对环路带宽的要求,需要合并动态应力到误差跟踪控制信号才能满足高动态的性能要求。本文从载波跟踪二阶环路的结构入手,对利用外界速度辅助的三阶环路进行动态稳定性和稳定误差性能进行仿真计算和性能分析,结果表明这种有外界速度辅助的三阶载波锁相环路可以改善信号跟踪环路的动态应力性能。     

Stability analysis of GPS carrier tracking loops by phase margin approach

Stability, which is significantly related to the loop parameters, is an important factor in the traditional GPS tracking loop design. Through the analysis of phase margin values in the discrete GPS PLL tacking loop, we are able to theoretically reveal the relationship between loop stability, equivalent noise bandwidth B _n , predetection integration time T, and loop parameters. We calculate the theoretical limitations for B _n T, that is, the product of equivalent noise bandwidth multiplied by predetection integration time, for second- and third-order phase-locked loop, respectively. The results are verified by actual data from GPS receivers.     

一种UKF与PF相结合的相位解缠算法

针对干涉相位图解缠问题,该文提出一种基于掩膜图的无损卡尔曼滤波与粒子滤波相结合的相位解缠算法,并结合基于AMPM局部相位梯度估计技术快速和精确地从复干涉相位图中获取相位梯度等信息以及最大堆排序算法从高质量像元到低质量像元的路径快速地搜索最佳待解缠像元,减少在路径跟踪过程中所消耗的时间。该文算法不仅可以高效、精确地在相位解缠的同时进行干涉图滤波,降低前置预滤波器的难度与复杂度,甚至可以在解缠高信噪比干涉相位图时免去预滤波的过程,而且在一定程度上能将相位解缠误差限制在低质量像元区域,减少误差传递效应,提高相位解缠的精度,在实测数据和模拟数据实验结果中表明:比现有的传统算法如枝切法等InSAR干涉相位解缠算法有更高的精度和稳健性。     

Methodology for comparing two carrier phase tracking techniques

The carrier phase tracking loop is the primary focus of the current work. In particular, two carrier phase tracking techniques are compared, the standard phase tracking loop, i.e., the phase lock loop (PLL), and the extended Kalman filter (EKF) tracking loop. In order to compare these two different techniques and taking into consideration the different models adopted in each, it is important to bring them to one common ground. In order to accomplish this, the equivalent PLL for a given EKF has to be determined in terms of steady-state response to both thermal noise and signal dynamics. A novel method for experimentally calculating the equivalent bandwidth of the EKF is presented and used to evaluate the performance of the equivalent PLL. Results are shown for both the L1 and L5 signals. Even though the two loops are designed to track equivalent dynamics and to have equivalent carrier phase standard deviations, the EKF outperforms the equivalent PLL in terms of both the transient response and sensitivity.     

顾及模型误差的卡尔曼滤波相位解缠

本文提出一种顾及模型误差的卡尔曼滤波相位解缠算法,该算法在卡尔曼滤波的状态空间模型中引入一与误差因素有关的控制变量,对相位误差进行补偿,通过在解缠过程中将卡尔曼滤波增益限制在一定范围内,把误差阻遏在相当小的区域,最后对解缠相位进行卡尔曼滤波平滑操作,减少了误差的传播。分别采用仿真数据和真实InSAR数据进行实验,并与原卡尔曼滤波相位解缠结果进行对比分析,验证了本文方法的有效性。     

北斗二号/三号融合载波相位时间传递精度分析

本文给出了载波相位时间传递数学模型,并基于多模全球卫星导航系统(GNSS)试验跟踪网MGEX (Multi-GNSS Experiment)的实测数据,对北斗二号/北斗三号卫星导航系统(BDS-2/BDS-3)融合载波相位时间传递性能进行分析. 结果表明:BDS-3的加入能够增加测站的可视卫星数量,改善卫星分布空间构型. 相比仅使用BDS-2,BDS-2/BDS-3融合解算可将MRO1-CUSV和NNOR-CUSV的时间传递精度分别从0.11 ns、0.10 ns提高到0.07 ns、0.08 ns,A类不确定度分别从0.007 ns、0.006 ns提高到0.004 ns、0.005 ns.      

Estimating satellite phase fractional cycle biases based on Kalman filter

Phase fractional cycle biases (FCBs) originating from satellites and receivers destroy the integer nature of PPP carrier phase ambiguities. To achieve integer ambiguity resolution of PPP, FCBs of satellites are required. In former work, least squares methods are commonly adopted to isolate FCBs from a network of reference stations. However, it can be extremely time consuming concerning the large number of observations from hundreds of stations and thousands of epochs. In addition, iterations are required to deal with the one-cycle inconsistency among FCB measurements. We propose to estimate the FCB based on a Kalman filter. The large number of observations are handled epoch by epoch, which significantly reduces the dimension of the involved matrix and accelerates the computation. In addition, it is also suitable for real-time applications. As for the one-cycle inconsistency, a pre-elimination method is developed to avoid iterations and posterior adjustments. A globally distributed network consisting of about 200 IGS stations is selected to determine the GPS satellite FCBs. Observations recorded from DoY 52 to 61 in 2016 are processed to verify the proposed approach. The RMS of wide lane (WL) posterior residuals is 0.09 cycles while that of the narrow lane (NL) is about 0.05 cycles, which indicates a good internal accuracy. The estimated WL FCBs also have a good consistency with existing WL FCB products (e.g., CNES-GRG, WHU-SGG). The RMS of differences with respect to GRG and SGG products are 0.03 and 0.05 cycles. For satellite NL FCB estimates, 97.9% of the differences with respect to SGG products are within ±?0.1 cycles. The RMS of the difference is 0.05 cycles. These results prove the efficiency of the proposed approach.     

一种基于扩展卡尔曼滤波的多基线相位噪声抑制及展开方法

针对传统多基线干涉合成孔径雷达存在系统高度模糊数与缠绕相位解缠可靠性之间不可兼顾的矛盾,该文提出一种基于扩展卡尔曼滤波(EKF)的多基线SAR干涉相位展开方法。该方法利用全方位局部相位梯度联合估计技术直接从多幅复干涉图抽样谱中提取相位梯度信息,同时利用EKF强大的数据融合能力以信息融合的方式同时完成二维噪声抑制及相位展开,既有利于解决相位展开中的"坡度欠估计"问题,又避免了传统方法在相位展开之前须进行噪声滤波的不足。多基线模拟数据和单基线实测数据处理结果验证了方法的有效性。     

Variable length LMS adaptive filter for carrier phase multipath mitigation

Multipath on carrier phase measurements is among the major error sources for short baseline positioning. A new method is proposed to improve the accuracy of the positioning results by mitigating the multipath effects on carrier phase measurements using the variable length Least Mean Square (VLLMS) adaptive filter. The performance of the filter is analyzed as well as compared with that of the standard LMS adaptive filter using a set of carrier phase observation data of two consecutive days collected in a short baseline experiment. Because the two antennas are static, the multipath error is the only dominant component in the carrier phase double-differenced residuals and indicates a repeated pattern. The numerical results show that both filters can significantly mitigate the multipath effects in carrier phase double-differenced residuals, and hence improve the positioning results. Furthermore, the VLLMS filter that reduces up to about 47.4% of the multipath effects on 3D positioning performs better than the LMS filter that only reduces 22.0%. Both filters are suitable for real-time applications.     

GLONASS inter-frequency phase bias rate estimation by single-epoch or Kalman filter algorithm

GPS Solutions - GLONASS double-differenced (DD) ambiguity resolution is hindered by the inter-frequency bias (IFB) in GLONASS observation. We propose a new algorithm for IFB rate estimation to...     

时空Kalman滤波在变形分析中的应用研究

时空Kalman滤波可对变形监测数据进行时空滤波去噪、数据插补和变形预测,本文利用时空Kalman滤波进行变形分析,从模型原理及试验两方面比较分析了Kriged Kalman filter(KKF)、space time Kalman filter(STKF)和spatio-temporal mixed effects(STME) 3种典型时空Kalman滤波模型的性能和适用性。结果表明:3种时空Kalman滤波模型均基于空间基函数及动力学模型组合形式描述时空数据的时空相关性,其主要差异在于空间变异的描述形式不同、空间基函数和状态转移矩阵构造过程不同及模型降维方法不同。在适用性方面,KKF模型更适合于稀疏测站的变形分析,STKF模型及STME模型更适合于海量测站的变形分析。在变形分析应用效果方面,3种时空Kalman滤波模型均具有较高精度的时空滤波去噪、数据插补和变形预测性能,其滤波结果相对于普通Kalman滤波结果的平均改善率为21.1%,其缺失数据插补结果相对于Hermite时间插值结果的平均改善率为42.4%,其空间预测结果相对于Kriging空间插值结果的平均改善率为65.3%,其对已知测站未来变形的时空预测结果相对于普通Kalman滤波时间预测结果的平均改善率为20.6%,其对非观测站点未来变形的时空预测结果相对于Kalman滤波+Kriging组合模型预测结果的平均改善率为20.5%。     

基于EKF的北斗B1C信号数据/导频联合跟踪方法

针对北斗B1C信号在低载噪比情况下跟踪精度低的问题,提出一种基于扩展卡尔曼滤波（EKF）的北斗B1C信号数据/导频联合跟踪方法.通过构建数据/导频双通道联合跟踪模型,增加对B1C信号利用率,并在联合跟踪模型的基础上引入扩展卡尔曼滤波器,削弱传统跟踪环路中鉴别器和环路滤波器带来的跟踪误差,进一步提高跟踪环路对低载噪比信号的跟踪性能.仿真结果验证:在低载噪比情况下,相比于传统单导频通道跟踪、单导频扩展卡尔曼跟踪和联合跟踪,该方法可以有效提高跟踪精度.      

基于DEM的低相干区SAR干涉图卡尔曼滤波相位解缠算法

相位解缠是利用干涉合成孔径雷达(InSAR)进行DEM提取和微小地表形变测量的关键技术之一.常规的卡尔曼滤波相位解缠算法在地形平坦区域可以获得可靠的结果,但是在地形起伏较大的区域却容易产生误差的传递,致使其结果无法准确反演地表形变信息.为此,提出了一种基于DEM的SAR干涉图卡尔曼滤波相位解缠算法.该算法借助美国航天飞机测绘任务(SRTM)获得的DEM信息指导SAR干涉图解缠,以提高解缠的速度和精度.通过与常规卡尔曼滤波解缠算法的结果比较分析表明,利用SRTM DEM地形信息指导卡尔曼滤波相位解缠尤其能够提高低相干区域相位的解缠精度.