Galileo导航系统观测值的质量分析

从信噪比、伪距多路径效应、单差残差和非差观测值精度等方面对进入初始服务初期Galileo导航系统观测值的质量进行了对比分析,最后简要评估了Galileo导航系统的单点定位精度。结果表明:在信噪比方面,Galileo E5最高,E1、E5a和E5b次之且基本相当;在伪距多路径方面,Galileo E1最大,其次分别为E5b和E5a,而E5最小;在单差残差方面,Galileo导航系统单差相位残差基本在±4 mm内,单差伪距残差基本在±0.3 m内;在非差观测值精度方面,Galileo导航系统相位观测值精度E1最高,E5a、E5b和E5次之且基本相当,而伪距观测值精度E5最高,E5b最差;整体上而言,Galileo导航系统观测值的数据质量略优于GPS和BDS;Galileo导航系统单频伪距单点定位的水平精度约为2.2 m,与GPS和BDS的水平定位精度基本相当,而高程精度约为5.2 m,稍差于GPS和BDS,这与可观测卫星数和PDOP有很大的关系。     

风云三号C卫星星载GPS/BDS实时定轨分析

随着北斗卫星导航系统(BeiDou navigation satellite system,BDS)的建设与运行,低轨卫星开始搭载GPS/BDS双系统接收机以实现卫星轨道确定.利用风云三号C(FengYun-3C,FY3C)卫星星载GPS/BDS双频伪距与载波相位观测数据,设置4种仿真试验方案,分别进行星载GPS/BDS在轨实时定轨数据处理,重点进行BDS观测数据对伪距实时定轨和载波相位实时定轨的精度影响分析和算法耗时分析.结果表明,采用伪距观测值,可获得1.0m的位置精度和1.0 mm/s的速度精度;采用载波相位观测值,可获得0.3 m的位置精度和0.3 mm/s的速度精度,且引入BDS观测值后,伪距实时定轨精度降低,相位实时定轨精度有所改善.     

BDS/GPS伪距相位联合定位对病态性改善程度分析

针对北斗卫星导航系统(BeiDou Navigation Satellite System,BDS)/全球卫星导航系统(Global Positioning System,GPS)载波相位定位的病态性,提出采用伪距观测来改善上述问题,并对比分析了在我国8个地面站不同精度伪距观测量的引入对载波相位定位病态性的改善效果,这种病态特征可以通过伪距与载波相位联合观测得到的法方程条件数表示.实验结果表明:伪距观测对载波相位定位的病态性有很大程度的改善,且BDS系统的改善程度比GPS更大;伪距观测精度越高,联合定位的病态性程度越弱;在较短的观测时间内,伪距观测量的引入,对载波相位定位病态性的改善效果非常明显.     

GPS精密单点定位软件实现及精度分析

介绍了应用Visual C 实现GPS单点定位软件,提出了一种较优的依高度角定权公式,分析了利用本软件基于相位平滑伪距的方法所能达到的单点定位精度指标.     

GPS双频相位平滑伪距及其单点定位的精度研究

讨论了利用Hatch滤波对双频消电离层组合伪距观测值进行相位平滑,对原Hatch滤波公式中的定权方法进行了改进.在此基础上,采用JPL提供的间隔为30 s的sp3事后精密星历和卫星钟差,对GPS双频相位平滑伪距及其单点定位的精度进行了研究.采用自编软件,利用IGS跟踪站观测数据进行了实际计算,并得出结论.     

北斗伪距单点定位的随机模型影响评估

北斗卫星导航系统包含3种不同类型的空间星座,相对应卫星的高度角存在一定的差异,对北斗卫星单点定位的影响也不同。针对这一问题,研究了等权模型、基于卫星高度角和信噪比的北斗卫星观测量随机模型确定方法。利用MGEX站提供的观测数据,通过比较不同模型的实验结果表明:相对于等权模型,基于卫星高度角和信噪比定权模型可以提高单点定位的精度,并且信噪比模型优于高度角模型;在基于信噪比确定权阵的随机模型中,选择不同的参数,对解算结果精度会产生相应的影响。     

BDS/GPS组合基线解算随机模型研究

观测值的随机模型反映了观测值随机噪声水平及其相关性,其中伪距与相位噪声比对GNSS定位结果、整周模糊度的固定都有很大的影响。利用实测数据,研究了BDS/GPS组合基线解算精度,探讨了3种随机模型的性能,结果表明:Helmert法定权的定位精度优于其他2种方法,高度角定权方法优于等权模式。     

GPS/BDS组合系统伪距单点定位模型精度分析

合理确定观测值权阵对于应用GPS/BDS组合系统提高单点定位的精度和稳定性十分重要.文章对GPS/BDS常用的几种定权模型等权模型、高度角随机模型、基于Helmert验后方差估计模型、顾及PDOP值的定权模型等进行了实验与分析.结果表明:基于Helmert的定权方法精度最高,进一步对其观测值的分类根据高度角进行改进并利用PDOP值的选星思想后,模型精度再次提高.研究结果可以为提高GPS/BDS组合系统伪距单点定位的精度提供参考.     

方差分量估计分析北斗伪距信号精度

针对北斗伪距精度和时间相关性研究较少的问题,该文引入最小二乘方差分量估计方法,对伪距与载波相位形成的电离层残差组合序列求高阶差分,构造伪距观测量的关系方程,并分析了北斗卫星伪距观测量的精度和时间相关性。结果表明,北斗伪距观测量的测量噪声在0.1~0.5m范围内,随高度角的增大而减小;不同频率的伪距噪声各有差异,高度角增大时差异减小,所有测站中B1的伪距噪声最大,B2、B3的大小关系随测站而异;地球同步轨道卫星的伪距精度优于倾斜地球同步轨道和中地球轨道卫星,且后两者差距较小;市场上两款北斗接收机的伪距测量精度相当。相关分析表明,当接收机采样频率等于或低于1Hz时,伪距观测量不存在明显的时间相关性;当采样频率高于1Hz时,伪距观测量表现出较强的时间相关性。     

卫星观测值精度分析及随机模型精化

通过MGEX观测网CUT0测站连续10天的观测数据,采用零基线单差模型方法求解单差残差序列,并推导出北斗GEO／IGSO／MEO卫星观测值噪声。统计观测值噪声随高度角变化的情况,采用最小二乘拟合的方法建立精化的高度角随机模型。结果表明:北斗三类卫星的观测精度略有差别,精度从高到低依次为MEO、IGSO、GEO;B1频率相位观测精度约为伪距的129倍,B2频率约为118倍;北斗卫星伪距观测值的精度要稍优于GPS,相位观测值的精度与GPS相当。最后,基线测试结果表明,精化后的随机模型提高了单历元动态定位的精度,平均点位精度提高了42.1％,N、E、U方向各分量RMS改善的百分比分别为:31.6％、15.3％、31.4％。      

北斗系统在南极中山站地区的基本定位性能评估

对北斗区域卫星导航系统（BDS）正式运行后在南极中山站地区的基本导航定位性能进行了评估,包括卫星可用性、位置精度因子（PDOP）、伪距观测值质量、电离层模型精度及单频伪距导航定位性能等方面。对南极中山站地区实测数据分析的结果表明,首先,北斗卫星导航系统的可用性与伪距观测值质量在总体上与GPS处于同一水平,并已初步具备了全天导航定位的能力,但存在卫星分布不够均匀、GEO卫星高度角较低、电离层模型精度较差等问题。其次,北斗单频伪距单点定位北、东方向的精度分别优于22 m和9 m,高程方向优于25 m;超短基线的单频伪距差分定位在北、东、高程三个方向的精度分别为3.6 m、2.3 m和3.3 m;总体而言与GPS相比有一定差距。最后,北斗/GPS组合定位相对于单一的GPS定位不仅增加了系统的可靠性,还对定位的精度有明显改善,对于单频伪距单点定位、伪距差分定位的三维点位精度可分别提高10%、22%。     

An enhanced calibration method of GLONASS inter-channel bias for GNSS RTK

A user of heterogeneous GPS and GLONASS receiver pairs in differential positioning mode will experience ambiguity fixing challenges due to the presence of inter-channel biases. These biases cannot be canceled by differencing GLONASS observations, whether pseudorange or carrier phase. Fortunately, pre-calibration of GLONASS pseudorange and carrier phase observations can make ambiguity fixing for GPS/GLONASS positioning much easier. We propose an effective algorithm that transforms an RTK (real-time kinematic) solution in a mixed receiver baseline from a float to a fixed ambiguity solution. Carrier phase and code inter-channel biases are estimated from a zero baseline. Then, GLONASS both carrier phase and code observations are corrected accordingly. The results show that a mixed baseline can be transformed from a float (~100 %) to a fixed (more than 92 %) solution.     

GLONASS pseudorange inter-channel biases and their effects on combined GPS/GLONASS precise point positioning

Combined GPS/GLONASS precise point positioning (PPP) can obtain a more precise and reliable position than GPS PPP. However, because of frequency division multiple access, GLONASS carrier phase and pseudorange observations suffer from inter-channel biases (ICBs) which will influence the accuracy and convergence speed of combined GPS/GLONASS PPP. With clear understanding of the characteristics of carrier phase ICBs, we estimated undifferenced GLONASS pseudorange ICBs for 133 receivers from five manufacturers and analyzed their characteristics. In general, pseudorange ICBs corresponding to the same firmware have strong correlations. The ICB values of two receivers with the same firmware may be different because of different antenna types, and their differences are closely related to frequency. Pseudorange ICBs should be provided for each satellite to obtain more precise ICBs as the pseudorange ICBs may vary even on the same frequency. For the solutions of standard point positioning (SPP), after pseudorange ICB calibration, the mean root mean square (RMS) improvements of GLONASS SPP reach up to 57, 48, and 53 % for the East, North, and Up components, while combined GPS/GLONASS SPP reach up to 27, 17, and 23 %, respectively. The combined GPS/GLONASS PPP after pseudorange ICB calibration evidently improved the convergence speed, and the mean RMS of PPP improved by almost 50 % during the convergence period.     

基于GPS/GLONASS/BDS组合的单历元单频短基线RTK定位算法研究

随着多个GNSS系统不断建成,天空中的导航卫星越来越多,使得RTK作业时的观测量也越来越多,这对提高单频单历元RTK的可靠性起到了至关重要的作用。本文分析了GLONASS信号频分多址的特点,对GPS/GLONASS/BDS单历元单频RTK定位的算法和模型进行了研究,提出了一种适用于三系统组合条件下短基线单频单历元RTK定位的算法,并采用实测数据对算法进行了验证,结果表明,GPS/GLONASS/BDS单历元单频RTK定位是可行的。     

Impact of GLONASS pseudorange inter-channel biases on satellite clock corrections

GLONASS carrier phase and pseudorange observations suffer from inter-channel biases (ICBs) because of frequency division multiple access (FDMA). Therefore, we analyze the effect of GLONASS pseudorange inter-channel biases on the GLONASS clock corrections. Different Analysis Centers (AC) eliminate the impact of GLONASS pseudorange ICBs in different ways. This leads to significant differences in the satellite and AC-specific offsets in the GLONASS clock corrections. Satellite and AC-specific offset differences are strongly correlated with frequency. Furthermore, the GLONASS pseudorange ICBs also leads to day-boundary jumps in the GLONASS clock corrections for the same analysis center between adjacent days. This in turn will influence the accuracy of the combined GPS/GLONASS precise point positioning (PPP) at the day-boundary. To solve these problems, a GNSS clock correction combination method based on the Kalman filter is proposed. During the combination, the AC-specific offsets and the satellite and AC-specific offsets can be estimated. The test results show the feasibility and effectiveness of the proposed clock combination method. The combined clock corrections can effectively weaken the influence of clock day-boundary jumps on combined GPS/GLONASS kinematic PPP. Furthermore, these combined clock corrections can improve the accuracy of the combined GPS/GLONASS static PPP single-day solutions when compared to the accuracy of each analysis center alone.     

Method for real-time self-calibrating GLONASS code inter-frequency bias and improvements on single point positioning

Utilization of frequency-division multiple access (FDMA) leads to GLONASS pseudorange and carrier phase observations suffering from variable levels inter-frequency bias (IFB). The bias related with carrier phase can be absorbed by ambiguities. However, the unequal code inter-frequency bias (cIFB) will degrade the accuracy of pseudorange observations, which will affect positioning accuracy and convergence of precise point positioning (PPP) when including GLONASS satellites. Based on observations made on un-differenced (UD) ionospheric-free combinations, GLONASS cIFB parameters are estimated as a constant to achieve GLONASS cIFB real-time self-calibration on a single station. A total of 23 stations, with different manufacturing backgrounds, are used to analyze the characteristics of GLONASS cIFB and its relationship with variable receiver hardware. The results show that there is an obvious common trend in cIFBs estimated using broadcast ephemeris for all of the different manufacturers, and there are unequal GLONASS inter-satellite cIFB that match brand manufacture. In addition, a particularly good consistency is found between self-calibrated receiver-dependent GLONASS cIFB and the IFB products of the German Research Centre for Geosciences (GFZ). Via a comparative experiment, it is also found that the algorithm of cIFB real-time self-calibration not only corrects receiver-dependent cIFB, but can moreover eliminate satellite-dependent cIFB, providing more stable results and further improving global navigation satellite system (GNSS) point positioning accuracy. The root mean square (RMS) improvements of single GLONASS standard point positioning (SPP) reach up to 54.18 and 53.80% in horizontal and vertical direction, respectively. The study’s GLONASS cIFB self-estimation can realize good self-consistency between cIFB and stations, working to further promote convergence efficiency relative to GPS?+?GLONASS PPP. An average improvement percentage of 19.03% is observed, realizing a near-consistent accuracy with GPS?+?GLONASS fusion PPP.     

手机GNSS数据质量提取的变分模态分解法

观测噪声提取是数据质量分析与随机模型构建的基础。当前手机GNSS观测噪声提取主要采用三阶差分法与历元间差分法,这些方法的提取结果都会受到卫星相关性和历元间相关性的影响。本文提出结合变分模态分解(variational mode decomposition,VMD)提取手机观测噪声的方法。模拟分解试验表明:VMD能够较好地对混合信号进行分解。提取小米8手机GNSS观测噪声并进行分析,结果表明:GPS、BDS和Galileo 3系统伪距观测噪声计算结果一致,GLONASS系统伪距噪声大约是其他系统的两倍,四系统的载波观测噪声相当,手机GNSS观测噪声与Android系统版本无关。相比于高度角随机模型,载噪比随机模型更适用于手机GNSS定位。利用数据质量提取结果拟合载噪比随机模型,并进行定位试验。定位结果表明:相对于高度角随机模型,采用载噪比随机模型后手机伪距单点定位效果能提升25%以上。手机PPP平面定位结果能收敛至0.6 m以内,高程定位精度收敛至1.2 m以内。     

A comparative analysis of GPS range,Doppler and interferometric observations for geodetic positioning

Geodetic positioning accuracies obtained from range, integrated Doppler and double differenced interferometric phase observations from a constellation of twenty-four Global Positioning System satellites are presented. It is demonstrated that GPS range and Doppler observations will provide sufficient accuracy for the estimation of geodetic coordinates. However the instability of the receiver atomic oscillator will limit the usefulness of these observations in providing rapid first-order baseline determination. Interferometric phase measurements twice differenced to eliminate clock error appear as an alternate procedure for providing such accuracies.     

亚太地区BDS-3/GNSS组合系统单频单点定位性能分析

针对北斗三号卫星导航系统(BDS-3)向全球提供定位、导航和授时(PNT)服务后的定位性能评估问题,基于MGEX (Multi-GNSS Experiment) WHU2站7天实测数据,从可视卫星数、几何精度衰减因子(GDOP)、定位精度、定位成功率和伪距残差方面分析了BDS-3及BDS/GNSS组合伪距单点定位(SPP)性能. 结果表明:在亚太地区,BDS-3具有比美国的GPS、俄罗斯的GLONASS、欧洲的Galileo更优的SPP性能,其水平、垂直和三维精度分别为1.19 m、2.34 m、2.38 m,三维精度比北斗二号卫星导航系统(BDS-2)、GPS、GLONASS和Galileo 的SPP精度分别提升了54.8%、27.2%、86.4%和1.2%. 此外,BDS/GPS/Galileo组合能获得最优的SPP精度,其水平、垂直和三维精度分别为0.96 m、1.66 m、1.77 m,相较于BDS-2/BDS-3 SPP分别提升了18.6%、19.4%和17.3%.      

基于方差分量估计的不同截止高度角下的组合单点定位

BDS/GPS/GLONASS组合系统定位时,由于系统间卫星测距精度的差异性,需要合理确定卫星间权比,Helmert方差分量估计常被用于确定不同类观测值间权比;而当观测值含有粗差时,Helmert方差分量估计定位结果容易被粗差污染或收敛失真,出现大的偏差。文中基于Helmert方差分量估计,引入等价权因子IGGIII函数,建立抗差Helmert方差分量估计权函数模型,对比分析其在低截止高度角10°、15°和20°下,在BDS/GPS/GLONASS组合系统定位中的应用及定位精度,并讨论分析在高截止高度角30°和40°下,组合系统和单系统BDS的定位精度。实验结果表明:当观测值无明显粗差时,Helmert方差分量估计和抗差分量估计的定位精度相当,略低于高度角权函数的定位结果,点位精度RMS优于2.5m;含粗差时,抗差解定位精度最高;当截止高度角为30°时,BDS单系统定位精度RMS优于5m,而组合系统RMS接近3m;为40°时,组合系统平面精度RMS优于2m,三维精度RMS优于6m,而单系统不能定位。