The Null method applied to GNSS three-carrier phase ambiguity resolution

The Null method is a technique to fix the ambiguity in L1 phase measurements of the global positioning system (GPS). The method is adapted to new global navigation satellite systems (GNSS) which offer phase measurements at three frequencies. In order to validate the efficiency of the adapted method, results obtained using a software simulator and an emulator are presented. The results are then compared to those obtained with the least-squares ambiguity decorrelation adjustment (LAMBDA) method. Good performance of the Null method in new GNSS systems is shown.Acknowledgments. The measurements used were provided by the European Space Agency, and were generated by Spectra Precision Terrasat under contract No. 12.406/77/NL/DS. The authors thank Maria Belmontes Rivas for her comments and the reviewers for their suggestions.     

Integer least-squares theory for the GNSS compass

Global navigation satellite system (GNSS) carrier phase integer ambiguity resolution is the key to high-precision positioning and attitude determination. In this contribution, we develop new integer least-squares (ILS) theory for the GNSS compass model, together with efficient integer search strategies. It extends current unconstrained ILS theory to the nonlinearly constrained case, an extension that is particularly suited for precise attitude determination. As opposed to current practice, our method does proper justice to the a priori given information. The nonlinear baseline constraint is fully integrated into the ambiguity objective function, thereby receiving a proper weighting in its minimization and providing guidance for the integer search. Different search strategies are developed to compute exact and approximate solutions of the nonlinear constrained ILS problem. Their applicability depends on the strength of the GNSS model and on the length of the baseline. Two of the presented search strategies, a global and a local one, are based on the use of an ellipsoidal search space. This has the advantage that standard methods can be applied. The global ellipsoidal search strategy is applicable to GNSS models of sufficient strength, while the local ellipsoidal search strategy is applicable to models for which the baseline lengths are not too small. We also develop search strategies for the most challenging case, namely when the curvature of the non-ellipsoidal ambiguity search space needs to be taken into account. Two such strategies are presented, an approximate one and a rigorous, somewhat more complex, one. The approximate one is applicable when the fixed baseline variance matrix is close to diagonal. Both methods make use of a search and shrink strategy. The rigorous solution is efficiently obtained by means of a search and shrink strategy that uses non-quadratic, but easy-to-evaluate, bounding functions of the ambiguity objective function. The theory presented is generally valid and it is not restricted to any particular GNSS or combination of GNSSs. Its general applicability also applies to the measurement scenarios (e.g. single-epoch vs. multi-epoch, or single-frequency vs. multi-frequency). In particular it is applicable to the most challenging case of unaided, single frequency, single epoch GNSS attitude determination. The success rate performance of the different methods is also illustrated.     

Efficient spoofing identification using baseline vector information of multiple receivers

In a spoofing environment, a Global Navigation Satellite System (GNSS) receiver must employ anti-spoofing techniques for obtaining a normal navigation solution from the GNSS signal. We propose a new method for identifying spoofing signals using the norm of the difference of baseline vectors (NDB) obtained from multiple receivers. The main focuses of this research are to reduce the initial time required to identify the spoofing signal and to mitigate the physical constraints on multiple antennas placement. First, the multi-correlators of each receiver track both GNSS and spoofing signals simultaneously and classify them into two signal groups. Then, the baseline vectors are generated from the double-differenced carrier phase measurements of the classified signal groups, and the NDB is calculated. If the target positions of the spoofing signal groups are almost the same, the NDB has a fairly small value when the base position of the selected baseline vectors is calculated from one of the GNSS groups and the rover positions of the baseline vectors are calculated from each spoofing group of the multiple receivers. Using the NDB, a hypothesis is established, and a hypothesis test is conducted for identifying the spoofing signal. The performance of the proposed test statistics is analyzed with respect to the distance between the GPS antennas and the tuning parameter. Our experimental results show that the proposed method effectively performs spoofing identification with a short baseline. Additionally, the method exhibits a very low probability of fault detection and fast response time. This means that the immediate anti-spoofing can work properly in spoofing environments.     

融合工程地质资料与GNSS高精度监测信息的黑方台党川黄土滑坡稳定性研究

针对当前滑坡稳定性评价方法难以准确获取评价结果的突出问题,本文提出了一种融合地下水、工程地质钻孔信息及灌溉资料等工程地质资料与GNSS观测的黄土滑坡稳定性评价方法。首先,基于高分辨率影像、高精度DEM、地层地貌等多源异构数据,建立滑坡精细三维地质模型体;然后,将滑坡外部高精度GNSS监测数据作为模型外部约束条件,进一步构建起融合工程地质资料与GNSS观测的黄土滑坡稳定性综合评价模型。本文方法能够将滑坡外部大地测量高精度监测数据与工程地质数值模拟手段有机融合,实现了滑坡外部形变信息与内部变形机制的有效耦合。通过我国典型黄土滑坡域甘肃黑方台党川实际发生的两起滑坡失稳事件验证表明,本文方法可有效地提高滑坡稳定性评价结果的精度及可靠性,获取了与试验区域滑坡实际失稳情况相一致的结果:HF06/07 GNSS监测点首先失稳,其次是HF09监测点失稳,最后是HF05监测点失稳。基于本文方法获取的滑坡失稳顺序与实际滑坡发生顺序高度一致,显著优于现有的滑坡失稳数值模拟法。     

利用MSMPCA去噪的CEEMD方法监测高频GNSS同震形变

考虑到全球导航卫星系统(global navigation satellite system,GNSS)地震信号的非线性和非平稳性,利用一种多尺度多方向主成分分析(multiscale multiway principal component analysis,MSMPCA)去噪的完备总体经验模态分解(complete...     

Modified compressive sensing approach for GNSS signal reception in the presence of interference

Pre-processing traditional navigation signals in global navigation satellite system (GNSS) receivers includes the conversion of an analog-to-digital sample and acquisition following the basic principle of Nyquist sampling theory. This condition inevitably increases the system computation time and cost of a modern wideband receiver. In recent years, the compressive sensing (CS) approach has been proven to effectively reduce the number of measurement samples required for digital signal acquisition systems. This method gives new potential to this modern design. In this study, a modified compressive sensing algorithm for the acquisition of a GNSS signal that is contaminated by an interfering signal is presented. The proposed method attempts to combine CS demodulation and the subspace projecting method to enhance GNSS signal acquisition performance with interference present. First, the received signal is sub-sampled and aliased from a compressive sampling process. This operation maintains the restricted isometry property (RIP) condition of the second sampling process using a Toeplitz-structured sensing matrix, which replaces a conventional random sensing matrix. The matrix ensures that distances between desired signals on the set of sparse space are not influenced by the sampling process. Next, the interference is eliminated through the orthogonal feature between the interference signal and the desired signal using the subspace projecting method. This also preserves the RIP of the projecting matrix to ensure that the original structure of the linear projection of the signal is preserved. After this, an iterative least-square method is utilized to recover the correlator output from the reception samples taken by the CS demodulator. In addition, the signal detection performance in the presence of co-channel interference using a CS demodulator is analyzed and evaluated. Finally, the relationships between signal detection probability, compressive factor and signal bandwidth are also illustrated. Several numerical results are presented to verify the theory.     

GNSS multi-frequency receiver single-satellite measurement validation method

A method is presented for real-time validation of GNSS measurements of a single receiver, where data from each satellite are independently processed. A geometry-free observation model is used with a reparameterized form of the unknowns to overcome rank deficiency of the model. The ionosphere error and non-constant biases such as multipath are assumed changing relatively smoothly as a function of time. Data validation and detection of errors are based on statistical testing of the observation residuals using the detection–identification–adaptation approach. The method is applicable to any GNSS with any number of frequencies. The performance of validation method was evaluated using multi-frequency data from three GNSS (GPS, GLONASS, and Galileo) that span 3 days in a test site at Curtin University, Australia. Performance of the method in detection and identification of outliers in code observations, and detection of cycle slips in phase data were examined. Results show that the success rate vary according to precision of observations and their number as well as size of the errors. The method capability is demonstrated when processing four IOV Galileo satellites in a single-point-positioning mode and in another test by comparing its performance with Bernese software in detection of cycle slips in precise point-positioning processing using GPS data.     

附加约束条件对GNSS/INS组合导航结果的影响分析

针对车载全球导航卫星系统/惯性导航系统（global navigation satellite system/inertial navigation system,GNSS/INS）组合导航中卫星信号中断,惯性导航系统单独导航误差积累较大的问题,提出了附加载体运动条件约束的卡尔曼（Kalman）滤波解算方法。通过利用载体固有的运动约束,包括近似高程约束、近似速度约束和近似姿态约束,减少载体自由度和模型参数;通过引入新的观测类型,增加观测冗余,可以加强Kalman滤波解,提高在GNSS信号中断时组合导航系统的定位精度,实现无缝导航。     

GNSS垂直位移反演区域地表质量变化的模拟分析

连续密集的全球导航卫星系统(global navigation satellite system,GNSS)地表形变监测为反演精细的区域地表质量变化提供了有效技术手段.针对格林函数方法反演区域地表质量变化的病态问题,给出了一种改进的正则化拉普拉斯约束矩阵,讨论了广义交叉检验(generalized cross-vali...     

全球导航卫星系统反射测量(GNSS+R)最新进展与应用前景

全球导航卫星系统(GNSS)具有全天候、近实时、高精度的特点,可持续发射L波段信号,广泛应用于定位、导航和授时(PNT)。随着GNSS技术的发展,最近GNSS反射信号可探测地球表面特征,即GNSS反射测量(GNSS+R)。结合GNSS接收机天线位置和介质信息,利用延迟测量值可以确定表面粗糙度和表面特性。GNSS+R作为当前GNSS和遥感领域的研究热点,取得了一些研究进展和成果。本文详细介绍了GNSS+R原理和方法及其最新应用进展,包括各种GNSS+R技术手段和方法,以及海洋、陆地、水文、植被和冰雪等遥感应用,特别是最新BeiDou-R和TDS-1研究进展。最后给出了GNSS+R应用前景和展望,包括多GNSS系统、GNSS+R接收机、GNSS+R卫星计划和新兴应用等。     

一种GNSS/视觉观测紧组合导航定位算法研究

全球卫星导航系统(GNSS)在弱信号环境下,GNSS信号易受到遮挡或者电磁干扰,严重影响导航定位的可靠性、连续性和精度.针对此问题,本文作者研究了一种GNSS和视觉观测紧组合导航定位方法.首先基于相机采集图像数据,利用ORB-SLAM2开源平台求解得到视觉位置结果增量,再联合GNSS伪距观测数据采用卡尔曼滤波(KF)进...     

GNSS／INS组合的铁路轨道三维坐标快速精密测量

研究了利用GNSS／INS组合导航技术实现铁路既有线轨道绝对位置的快速精密测量方法,以便携式轨检小车作为移动平台搭载惯性测量单元、全球卫星导航系统、里程计和轨距尺模块,在运动过程中测量载体的三维坐标、姿态,结合轨距测量值推算轨道中线的精确三维坐标. 该方法对高精度轨道控制网依赖程度低,采用移动测量模式,作业效率高。在徐郑无砟高速铁路的实测结果表明,GNSS／INS组合导航系统平面测量精度优于6 mm(RMS),高程测量精度优于15 mm(RMS),可用于既有线线型恢复。      

Using Allan variance to improve stochastic modeling for accurate GNSS/INS integrated navigation

MEMS-based integrated system of a global navigation satellite system (GNSS) and an inertial navigation system (INS) has been widely used in various navigation applications. However, such integration encounters some major limitations. On the one hand, the noisy MEMS-based INS undermines the accuracy with time during the frequently occurring GNSS outages caused by signal blockage or attenuation in certain situations such as urban canyon, tunnels, and high trees. On the other hand, the model mismatch between actual GNSS error and the assumed one would also degrade the obtained accuracy even with continuous GNSS aiding. To improve the overall performance for GNSS/MEMS-INS, better error models can be obtained using Allan variance (AV) analysis technique for modeling inertial sensor errors instead of the commonly recommended auto-regressive processes, and on the other hand, the measurement update in Kalman filter is improved using innovation filtering and AV calculation. The performance of each method and the combined algorithm is evaluated by a field test with either differential GNSS (DGNSS) or single-point positioning (SPP) as external aid. In addition to the considerable navigation enhancement brought by each method, the experimental results show the combined algorithm accomplishes overall accuracy improvements by about 18% (position), 8% (velocity), and 38% (attitude) for integration with DGNSS, and by about 15% (position), 75% (velocity), and 77% (attitude) for that with SPP, compared with corresponding traditional counterparts.     

Integrity monitoring of fixed ambiguity Precise Point Positioning (PPP) solutions

Traditional positioning methods, such as conventional Real Time Kinematic (cRTK) rely upon local reference networks to enable users to achieve high-accuracy positioning. The need for such relatively dense networks has significant cost implications. Precise Point Positioning (PPP) on the other hand is a positioning method capable of centimeter-level positioning without the need for such local networks, hence providing significant cost benefits especially in remote areas. This paper presents the state-of-the-art PPP method using both GPS and GLONASS measurements to estimate the float position solution before attempting to resolve GPS integer ambiguities. Integrity monitoring is carried out using the Imperial College Carrier-phase Receiver Autonomous Integrity Monitoring method. A new method to detect and exclude GPS base-satellite failures is developed. A base-satellite is a satellite whose measurements are differenced from other satellite’s measurements when using between-satellite-differenced measurements to estimate position. The failure detection and exclusion methods are tested using static GNSS data recorded by International GNSS Service stations both in static and dynamic processing modes. The results show that failure detection can be achieved in all cases tested and failure exclusion can be achieved for static cases. In the kinematic processing cases, failure exclusion is more difficult because the higher noise in the measurement residuals increases the difficulty to distinguish between failures associated with the base-satellite and other satellites.     

区域CORS网坐标时间序列周期特征分析

通过精密单点定位的方法获取了区域CORS网各基准站的坐标时间序列,并利用最大似然估计法和频谱分析法对其32个基准站坐标时间序列的周期特征进行了分析,获取了各基准站年周期、半年周期的振幅和相位值,以及各基准站的周期功率谱图。结果表明:GNSS基准站坐标时间序列不仅存在线性变化,还存在周期性变化,其中以U方向表征最为明显,与双差定位获得的坐标时间序列周期特性分析结果一致,说明以精密单点定位获取的GNSS基准站坐标时间序列是可靠的,可以用来分析基准站的变化特征。     

GNSS自动化监测系统的大坝变形预测方法研究

以GNSS自动化监测系统的大坝变形预测方法为主要研究目的,针对大坝GNSS自动化监测数据大样本、高采样率、连续等特点,提出了一种结合小波分析与BP、NAR神经网络预测大坝变形的新方法。利用多尺度小波分析对GNSS大坝变形数据序列进行分解与重构,对重构后的低频近似序列采用BP神经网络进行建模预测,对重构后的高频细节序列采取NAR动态神经网络进行建模预测,最后叠加各尺度下预测结果获得大坝变形预测值。应用结果表明,该方法预测精度高、泛化性能好,可广泛应用于采用GNSS自动化监测系统的大坝变形预测。     

PPP网解UPD模糊度固定技术监测尼泊尔Ms8.1级地震对中国珠峰地区及周边地震同震位移

利用UPD模糊度固定技术无需顾及基线解算基站地震所带来的影响,可以进行高精度非差PPP解算,"真实"获取地震周边地区GNSS站点高精度同震位移变化。为此,本文利用"国家基准一期工程""中国大陆构造环境监测网络"以及国家测绘地理信息局在珠峰周边所观测的GNSS观测资料,基于UPD模糊度固定技术高精度非差解算2015年4月25日尼泊尔Ms8.1级地震对我国珠峰地区及周边地震同震位移影响。首先,本文选取全国及周边IGS均匀分布、站点稳定、远离震区的GNSS连续观测网络数据计算卫星端的宽、窄巷UPD,采用PPP网解UPD模糊度固定技术,对解算地震区域内的GNSS测站的载波相位模糊度进行固定,得到无模糊度的精确相位观测值,进行高精度非差PPP解算;通过对平静日IGS测站数据处理与ITRF2008历元坐标对比分析,验证了该方法的精确性;最后,对2015年4月25日、5月12日地震以及地震前后数据,进行了UPD模糊度固定技术的非差PPP解算,分析了中国珠峰地区及周边GNSS站的同震位移;同时也分析了中国珠峰地区在2005—2015年10年的位移变化情况。UPD模糊度固定技术整网解算的方法也证实了能够为GNSS用于监测地震同震位移等,提供了一种精确、可靠的技术手段。     

Mutual validation of GNSS height measurements and high-precision geometric-astronomical leveling

The method of geometric-astronomical leveling is presented as a suited technique for the validation of GNSS (Global Navigation Satellite System) heights. In geometric-astronomical leveling, the ellipsoidal height differences are obtained by combining conventional spirit leveling and astronomical leveling. Astronomical leveling with recently developed digital zenith camera systems is capable of providing the geometry of equipotential surfaces of the gravity field accurate to a few 0.1 mm per km. This is comparable to the accuracy of spirit leveling. Consequently, geometric-astronomical leveling yields accurate ellipsoidal height differences that may serve as an independent check on GNSS height measurements at local scales. A test was performed in a local geodetic network near Hanover. GPS observations were simultaneously carried out at five stations over a time span of 48 h and processed considering state-of-the-art techniques and sophisticated new approaches to reduce station-dependent errors. The comparison of GPS height differences with those from geometric-astronomical leveling shows a promising agreement of some millimeters. The experiment indicates the currently achievable accuracy level of GPS height measurements and demonstrates the practical applicability of the proposed approach for the validation of GNSS height measurements as well as the evaluation of GNSS height processing strategies.     

Evaluation of three ionospheric delay computation methods for ground-based GNSS receivers

GNSS observables for ionospheric estimation are commonly based on carrier-to-code leveling (CCL) and precise point positioning (PPP) methods. The CCL method is a geometry-free method which uses carrier phase to level pseudorange observation for decreasing multipath error and observation noise. However, the ionospheric observable based on the CCL has been proven to be affected by leveling errors. The leveling errors are caused by pseudorange multipath and intraday variation of receiver DCB. To obtain more accurate ionospheric observable, the PPP method takes advantage of precise satellite-to-ground range for retrieving slant total electron content and is less affected by the leveling errors. Previous studies have only proven that the ionospheric observables extracted by the two methods are affected by the leveling errors. The influence on ionospheric observable by the pseudorange inter-receiver satellite bias (IRSB) of the receiver has not been taken into consideration. Also, the magnitude of the differences between the ionospheric observables extracted by the two methods has also not been given. In this work, three methods, namely, the CCL, the conventional ionospheric-free PPP method which uses the ionospheric-free Hatch–Melbourne–Wubbena (HMW) function, and the University of Calgary (UOFC) PPP method, are selected to analyze and compare the differences of ionospheric observables and the global ionospheric maps, using a large number of measured data from international GNSS service global stations. Experimental results show that the accuracy of ionospheric observables obtained by the three methods is not only related to the leveling error, but also pseudorange IRSB. The IRSB of the receiver exerts a major effect on the ionospheric observables obtained by the CCL method and a minor effect on the ionospheric observables obtained by the HMW and UOFC methods. The accuracies in the latter case are similar and superior to those obtained by the CCL. The differences of the ionospheric observables obtained by the CCL and UOFC methods, or the CCL and HMW methods, are at decimeter level, whereas the difference of the ionospheric observables obtained by the UOFC and HMW methods is at centimeter level. The UOFC method presented the highest single-frequency pseudorange positioning accuracy using estimated global ionospheric products, followed by the HMW and the CCL methods which presented the lowest positioning accuracy.     

利用GNSS-R信号进行交通车流检测

为了有效检测交通状况,提出了一种使用GNSS-R （导航卫星反射）信号进行车流检测的方法。该方法利用两种天线分别接收导航卫星直射信号和反射信号,使用通用接收机进行信号采集后,在软件接收机中进行信号处理解算,获得直射通道和反射通道的相关功率,以及卫星的高度角。然后使用反演介电常数的方法对车辆进行探测,获得交通车流状况。通过试验验证,该方法能够有效地对探测区域内的车辆进行检测,证明了使用GNSS-R进行交通车流检测的可行性。