The confidence evaluation for airborne GPS data

l lntroductionIn the winter Of l989 Wuhan Technical Universi-ty of Surveying and Mapping COntracted withTrimble Navigation Ltd. to purchase fOur TrimbIe4000SST receivers. They were required tO suit theaeriaI phWetric work without intreducing avelocity limitation. In February, l993 twO of thereceivers were uPgraded to provide two eventrnarker plugfords and one pulse Per second(lPPS) output axkets. The uPgradd receivers canincormrate external event markers, e. g. the shutter.oPening …     

星地双向时差测量系统周跳探测与修复算法

随着空间时间频率基准的精度越来越高,需要与之匹配的空间时频传递技术. 基于载波相位的星地双向时差测量方法可以实现更高的时间频率传递精度,但对于复杂的星地环境,由于航天器飞行动态高,时频传递链路的传输频率高,载波多普勒效应大,更容易出现粗差和周跳. 基于此,研究一种适合高动态环境下的星地双向时差测量系统载波相位周跳探测与修复方法,提出一种适用于三频组合模式的双向周跳探测与修复方法. 该方法联合双频码相 (MW)组合法可以实现不同类型周跳的探测与修复,对于上下行三条微波链路均可探测出周跳的存在并实现毫米级周跳修复精度. 进一步对基于载波相位测量的星地双向时差测量系统的星地时间同步性能进行分析,在经过周跳探测与修复,以及链路时延数据处理,其星地时间同步精度优于0.3×10–12 s.      

Precise GRACE baseline determination using GPS

Precision relative navigation is an essential aspect of spacecraft formation flying missions, both from an operational and a scientific point of view. When using GPS as a relative distance sensor, dual-frequency receivers are required for high accuracy at large inter-satellite separations. This allows for a correction of the relative ionospheric path delay and enables double difference integer ambiguity resolution. Although kinematic relative positioning techniques demonstrate promising results for hardware-in-the-loop simulations, they were found to lack an adequate robustness in real-world applications. To overcome this limitation, an extended Kalman Filter modeling the relative spacecraft dynamics has been developed. The filter processes single difference GPS pseudorange and carrier phase observations to estimate the relative position and velocity along with empirical accelerations and carrier phase ambiguities. In parallel, double difference carrier phase ambiguities are resolved on both frequencies using the least square ambiguity decorrelation adjustment (LAMBDA) method in order to fully exploit the inherent measurement accuracy. The combination of reduced dynamic filtering with the LAMBDA method results in smooth relative position estimates as well as fast and reliable ambiguity resolution. The proposed method has been validated with data from the gravity recovery and climate experiment (GRACE) mission. For an 11-day data arc, the resulting solution matches the GRACE K-Band Ranging System measurements with an accuracy of 1 mm, whereby 83% of the double difference ambiguities are resolved.     

载波相位平滑伪距单点定位精度分析

介绍了载波相位平滑伪距单点定位原理,分析了在用GPS接收机导航解误差因素。通过对静态和动态条件下实测数据的检测与分析,检验了观测噪声、飞行速度和高度等因素与GPS导航解精度的关系。     

SDINS/GPS in-flight alignment using GPS carrier phase rate

The alignments of the strapdown inertial navigation system (SDINS) utilizing GPS carrier phase rate measurements is introduced. In this paper, a measurement model of GPS carrier phase rate under two antenna configurations is derived in order to be used for the SDINS alignment process. For in-flight alignment, the performance of the proposed SDINS/GPS integration method is analyzed using the covariance analysis and the overall performance is briefly confirmed by the navigation result of a van test. Furthermore, we find that during in-flight alignment the proposed SDINS/GPS integrated system using GPS carrier phase rate measurements can be implemented in real time because the integer ambiguity problem resulting from carrier phase measurements is avoided.     

Carrier phase multipath error characterization and reduction in single aircraft relative positioning

This paper describes GPS carrier phase (CP) multipath characterization and error reduction techniques and their application in single aircraft relative positioning. In particular, the single aircraft relative positioning scenario has applications for high-accuracy multi-sensor stabilization where CP multipath is a major error source that limits system performance. We will briefly review the requisite multipath theory and discuss models for quantifying the error characteristics. Field-test data will be used to validate the multipath models considering the underlying assumptions. A basic geometric reflection point theory will be presented to demonstrate the physical environmental sensitivity of CP multipath to parameters such as surface flatness and antenna height. Several different quantities will be described as multipath indicators for time-domain detection and will be compared with a frequency-domain technique. A new multipath detection approach will be introduced that is suitable to track multipath from time-varying reflection/diffraction points. Finally, the narrow-lane antenna baseline processing technique will be presented as a real-time approach to mitigate CP noise and multipath errors that is well suited for a very short baseline single aircraft high accuracy relative positioning system. Field-test results and analysis will be used to illustrate the key concepts in this paper and to help characterize the total navigation system performance.     

GPS相位差分技术在空中目标测量中的应用

在分析空中目标飞行的特点及对其进行高精度测量的必要性基础上,基于GPS载波相位差分技术,设计了一套空中目标飞行测量系统,提出了该系统在地面控制系统中的应用方法,并通过构建事后差分系统进行了静态精度验证和机载动态验证。     

无初始化的GPS辅助空中三角测量

简要介绍了以航线为单元 ,通过相位平滑递推算法在航求解双差载波相位观测量整周相位模糊度 ,进而确定各摄站空间位置的无初始化GPS动态定位原理 ,对某测区一组实际航摄资料进行GPS数据处理和GPS辅助光束法区域网平差 ,证实所介绍的算法是正确的、有效的 ,所获取的GPS摄站坐标可满足空中三角测量的精度要求 ,并且用该数据与经初始化GPS动态定位获取的GPS摄站坐标数据进行GPS辅助光束法区域网平差的总体精度是完全一致的。     

超轻型飞机GPS导航与摄影控制

低空超轻型飞机可以实现云下飞行,为大比例尺低空数码航空摄影测量提供了航空平台。本文将基于我国的超轻型飞机平台,设计机载低空数码航摄GPS导航和定点曝光控制系统,详细阐述了导航算法,并对"一机两屏"的方案进行了分析。通过自动定点曝光控制,保证航摄影像的前后、左右重叠度,试验结果显示该系统稳定可靠。     

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.     

顾及有色噪声影响的位置域双频载波相位平滑伪距算法

载波平滑伪距技术是一种有效的GNSS数据处理技术,在很多高精度实时定位场合得到了广泛的应用。本文在随机模型中考虑载波相位时间差分观测量中有限冲激响应有色观测噪声的影响,推导出采用递归最小二乘方法的距离域和位置域双频载波相位平滑伪距算法,并利用实测数据验证了新算法的有效性。试验表明,相位平滑伪距能够减小伪距观测值的误差,提高伪距观测量的精度,从而提高定位精度;相对于传统的算法,距离域与位置域滤波的伪距平滑精度均有提高,三维定位误差精度均得到改善;同时表明,载波相位时间差分的有色噪声对平滑效果和定位精度有一定的影响。     

OTF方法及其在GPS辅助航空摄影测量数据处理中的应用

本文提出了一种基于伪距，载波相位双差卡尔曼滤波的ＯＴＦ方法，并成功地用它处理１９９６年５月在北京进行的ＧＰＳ辅助航空摄影测量动态定位数据。数据处理的结果表明，这种方法对于距离远达５０ｋｍ，高差大于２４００ｍ的ＤＧＰＳ测量能够迅速，有效地解算出正确的整周模糊度，在固定整周模糊度后可提供优于１ｄｍ的差分定位精度。此外，本文还提出了３种检验ＯＴＦ解算可靠性的方法。     

GPS/INS navigation precision and its effect on airborne radio occultation retrieval accuracy

An airborne radio occultation (RO) system has been developed to retrieve atmospheric profiles of refractivity, moisture, and temperature. The long-term objective of such a system is deployment on commercial aircraft to increase the quantity of moisture observations in flight corridors in order to improve weather forecast accuracy. However, there are several factors important to operational feasibility that have an impact on the accuracy of the airborne RO results. We investigate the effects of different types of navigation system noise on the precision of the retrieved atmospheric profiles using recordings from the GNSS Instrument System for Multistatic and Occultation Sensing (GISMOS) test flights, which used an Applanix POS/AV 510 Global Positioning System (GPS)/Inertial Navigation System (INS). The data were processed using a carrier phase differential GPS technique, and then the GPS position and inertial measurement unit data were combined in a loosely coupled integrated inertial navigation solution. This study quantifies the velocity precision as a function of distance from GPS reference network sites, the velocity precision with or without an inertial measurement unit, the impact of the quality of the inertial measurement unit, and the compromise in precision resulting from the use of real-time autonomous GPS positioning. We find that using reference stations with baseline lengths of up to 760?km from the survey area has a negligible impact on the retrieved refractivity precision. We also find that only a small bias (less than 0.5% in refractivity) results from the use of an autonomous GPS solution rather than a post-processed differential solution when used in an integrated GPS/INS system. This greatly expands the potential range of an operational airborne radio occultation system, particularly over the oceans, where observations are sparse.     

Integrated GPS/INS navigation system with dual-rate Kalman Filter

A dual-rate Kalman Filter (DRKF) has been developed to integrate the time-differenced GPS carrier phases and the GPS pseudoranges with INS measurements. The time-differenced GPS carrier phases, which have low noise and millimeter measurement precision, are integrated with INS measurements using a Kalman Filter with high update rates to improve the performance of the integrated system. Since the time-differenced GPS carrier phases are only relative measurements, when integrated with INS, the position error of the integrated system will accumulate over time. Therefore, the GPS pseudoranges are also incorporated into the integrated system using a Kalman Filter with a low update rate to control the accumulation of system errors. Experimental tests have shown that this design, compared to a conventional design using a single Kalman Filter, reduces the coasting error by two-thirds for a medium coasting time of 30?s, and the position, velocity, and attitude errors by at least one-half for a 45-min field navigation experiment.     

同时估计电离层延迟的单频精密单点定位方法

提出一种基于单频码和相位观测量的单频精密单点定位方法,将每个观测量的电离层延迟量与接收机钟差、对流层天顶延迟、接收机位置、相位模糊度一起作为未知参数。采用约化参数的平方根信息滤波与平滑算法进行参数解算。该方法适用于实时定位和事后处理,且不需要外部的电离层模型。采用全球分布的32个IGS监测站16 d实测数据进行静态解算试验,结果表明E、N、U方向的RMS分别为0.023 m、0.018 m、0.059 m;基于一组机载GPS数据进行动态解算试验,得到E、N、U方向的RMS(与载波相位动态相对定位结果比较)分别为0.168 m、0.151 m、0.172 m。     

Effects of building materials on UHF ranging signals

Positioning and tracking inside buildings using wireless location methods has recently received considerable attention. One method is the estimation of the time of arrival of satellite or terrestrial-based radio frequency signals in order to produce ranges from the transmitter to the receiver. This paper investigates the effect of walls made of various construction materials on the penetration of ranging signals. In the tests conducted, a GPS pseudo-satellite transmits a pseudorandom noise code at a carrier frequency of 1.57542 GHz. After penetrating walls made of plywood, gyprock and cinder blocks, the signal is received by a GPS receiver which measures the carrier phase and the pseudorange between the transmitter and receiver using code correlation. Compared to measurements obtained with no walls present, the effect on the measurements is determined. The results indicate that the carrier phase measurement is superior to the pseudorange in terms of noise, stability, and the magnitude of the effect of the walls on the range obtained. Ranges based on the carrier phase only change by a few centimeters. Given that the integer number of cycles of the phase can be determined and phase lock is maintained, the carrier phase measurement shows considerable promise for indoor ranging.     

Use of a reduced IMU to aid a GPS receiver with adaptive tracking loops for land vehicle navigation

A reduced inertial measurement unit (IMU) consisting of only one vertical gyro and two horizontal accelerometers or three orthogonal accelerometers can be used in land vehicle navigation systems to reduce volume and cost. In this paper, a reduced IMU is integrated with a Global Positioning System (GPS) receiver whose phase lock loops (PLLs) are aided with the Doppler shift from the integrated system. This approach is called tight integration with loop aiding (TLA). With Doppler aiding, the noise bandwidth of the PLL loop filters can be narrowed more than in the GPS-only case, which results in improved noise suppression within the receiver. In this paper, first the formulae to calculate the PLL noise bandwidth in a TLA GPS/reduced IMU are derived and used to design an adaptive PLL loop filter. Using a series of vehicle tests, results show that the noise bandwidth calculation formulae are valid and the adaptive loop filter can improve the performance of the TLA GPS/reduced IMU in both navigation performance and PLL tracking ability.     

Wavelet packets based denoising method for measurement domain repeat-time multipath filtering in GPS static high-precision positioning

Repeatable satellite orbits can be used for multipath mitigation in GPS-based deformation monitoring and other high-precision GPS applications that involve continuous observation with static antennas. Multipath signals at a static station repeat when the GPS constellation repeats given the same site environment. Repeat-time multipath filtering techniques need noise reduction methods to remove the white noise in carrier phase measurement residuals in order to retrieve the carrier phase multipath corrections for the next day. We propose a generic and robust three-level wavelet packets based denoising method for repeat-time-based carrier phase multipath filtering in relative positioning; the method does not need tuning to work with different data sets. The proposed denoising method is tested rigorously and compared with two other denoising methods. Three rooftop data sets collected at the University of Nottingham Ningbo China and two data sets collected at three Southern California Integrated GPS Network high-rate stations are used in the performance assessment. Test results of the wavelet packets denoising method are compared with the results of the resistor–capacitor (RC) low-pass filter and the single-level discrete wavelet transform (DWT) denoising method. Multipath mitigation efficiency in carrier phase measurement domain is shown by spectrum analysis of two selected satellites in two data sets. The positioning performance of the repeat-time-based multipath filtering techniques is assessed. The results show that the performance of the three noise reduction techniques is about 1–46 % improvement on positioning accuracy when compared with no multipath filtering. The statistical results show that the wavelet packets based denoising method is always better than the RC filter by 2–4 %, and better than the DWT method by 6–15 %. These results suggest that the proposed wavelet packets based denoising method is better than both the DWT method and the relatively simple RC low-pass filter for noise reduction in multipath filtering. However, the wavelet packets based denoising method is not significantly better than the RC filter.     

Optimal Doppler-aided smoothing strategy for GNSS navigation

GPS Solutions - Carrier-phase-smoothed code (CPSC), i.e., smoothing of the code using carrier phases, has widely been used to reduce the code noise in GNSS applications. However, the efficiency of...