INS辅助的实时动态GNSS单频周跳探测
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摘要
采用全球卫星导航系统(Global Navigation Satellite System, GNSS)模糊度固定解可提高GNSS/惯性导航系统(inertial navigation system, INS)组合导航定位精度,而在复杂环境下,单频GNSS难以实现完善的实时动态周跳探测,影响GNSS模糊度保持。研究了星间单差与站星双差的INS辅助GNSS单频周跳探测检验量,重点分析检验量的误差特性。分析得出检验量误差主要与INS增量误差有关,受接收机至待检星与参考星之间星地矢量夹角的影响。提出了选取两颗参考星并优选探测检验量的方法,降低方位角因素的影响,提高周跳探测性能。周跳探测的阈值在滑动窗口内估计,对INS误差被GNSS误差淹没的部分进行抑制,充分反映INS误差影响,阈值估计具有较强的自适应性。
Global Navigation Satellite System(GNSS) ambiguity fixed solution can greatly improve the accuracy of GNSS/inertial navigation system(INS) integrated system. But it is difficult to achieve perfect real-time dynamic single-frequency cycle-slip detection merely by GNSS observations especially in complex environment. Inertial aided cycle-slip detection term(DT) based on station-satellite double-differences and satellite single-difference observations are derived. The error characteristic of the DT is analyzed comprehensively. DT error is influenced by the error of INS positioning increment and this error of each satellite is related to the angle between its station-satellite vector and that vector of the base satellite. Thus, it is of importance to select base satellite. It is proposed that two group of DT can be used together by selecting two different base satellites. The threshold of detection is estimated in a moving window, where the DTs, whose INS error is submerged in GNSS error, are eliminated to reflect the effects of INS error. The threshold has strong self-adaptability.
Global Navigation Satellite System(GNSS) ambiguity fixed solution can greatly improve the accuracy of GNSS/inertial navigation system(INS) integrated system. But it is difficult to achieve perfect real-time dynamic single-frequency cycle-slip detection merely by GNSS observations especially in complex environment. Inertial aided cycle-slip detection term(DT) based on station-satellite double-differences and satellite single-difference observations are derived. The error characteristic of the DT is analyzed comprehensively. DT error is influenced by the error of INS positioning increment and this error of each satellite is related to the angle between its station-satellite vector and that vector of the base satellite. Thus, it is of importance to select base satellite. It is proposed that two group of DT can be used together by selecting two different base satellites. The threshold of detection is estimated in a moving window, where the DTs, whose INS error is submerged in GNSS error, are eliminated to reflect the effects of INS error. The threshold has strong self-adaptability.
引文
[1] Li Zhenghang, Huang Jinsong. GPS Surveying and Data Processing [M]. Wuhan: Wuhan University Press, 2005 (李征航,黄劲松. GPS测量与数据处理[M]. 武汉:武汉大学出版社,2005)
[2] Liu Jiyu. The Principle and Method of Navigation and Positioning Using GPS Satellites [M]. Beijing: Science Press, 2008(刘基余. GPS 卫星导航定位原理与方法[M]. 北京:科学出版社,2008)
[3] Li Zhenghang, Zhang Xiaohong. New Techniques and Precise Data Processing Methods of Satellite Navigation and Positioning [M]. Wuhan: Wuhan University Press, 2009(李征航,张小红.卫星导航定位新技术及高精度数据处理方法[M].武汉:武汉大学出版社,2009)
[4] Yuan Hong, Wan Weixing, Ning Baiqi, et al. A New Cycle Slip Detection and Correction Method Using Triple Differences Solution [J]. Acta Geodaetica et Cartographica Sinica, 1998, 27(3): 189-194(袁洪,万卫星,宁百齐,等. 基于三差解检测和修复GPS载波相位周跳新方法[J]. 测绘学报, 1998, 27(3): 189-194)
[5] Blewitt G. An Automatic Editing Algorithm for GPS Data [J]. Geophysical Research Letters, 1990,17(3): 199-202
[6] Fang Rongxin, Shi Chuang, Wei Na, et al. Real-Time Cycle-Slip Detection for Quality Control of GPS Measurements [J]. Geomatics and Information Science of Wuhan University, 2009,34(9): 1 094-1 098(方荣新,施闯,魏娜, 等. GPS数据质量控制中实时周跳探测研究[J]. 武汉大学学报·信息科学版, 2009,34(9): 1 094-1 098)
[7] Li Jinlong, Yang Yuanxi, Xu Junyi, et al. Real-Time Cycle-Slip Detection and Repair on Code-Phase Combinations for GNSS Triple Frequency Undifferenced Observations [J]. Acta Geodaetica et Cartographica Sinica, 2011, 40(6): 717-723(李金龙,杨元喜,徐君毅,等. 基于伪距相位组合实时探测与修复GNSS三频非差观测数据周跳[J]. 测绘学报,2011, 40(6): 717-723)
[8] Chen Pinxin, Zhang Chuanyin, Huang Kunxue. Cycle Slips Detecting and Repairing by Use of Phase Reduce Pseudorange Law and Ionized Layer Remant Method of Difference [J]. Journal of Geodesy and Geodynamics, 2010, 30(2): 120-125(陈品馨,章传银,黄昆学. 用相位减伪距法和电离层残差法探测和修复周跳[J]. 大地测量与地球动力学, 2010, 30(2): 120-125)
[9] Tan Zhaowei. Investigations on Cycle Slip Detection and Correction in GPS Precise Point Positioning [D]. Qingdao: Shandong University of Science and Technology, 2011(谭兆伟. GPS精密单点定位周跳探测与修复方法研究[D]. 青岛:山东科技大学,2011)
[10] Altmayer C. Enhancing the Integrity of Integrated GPS/INS Systems by Cycle Slip Detection and Correction [C]. IEEE Intelligent Vehicles Symposium,Dearborn, USA, 2000
[11] Lee H K, Wang J L, Rizos C. Carrier Phase Processing Issues for High Accuracy Integrated GPS/Pseudolite/INS Systems[C].The 11th IAIN World Congress,Berlin, Germany, 2003
[12] Colombo O, Bhakra U, Evans A. Inertial-Aided Cycle-Slip Detection/Correction for Precise, Long-Baseline Kinematic GPS [C]. ION GPS 1999, Nashville, USA, 1999
[13] Du Shuang, Gao Yang. Inertial Aided Cycle Slip Detection and Identification for Integrated PPP GPS and INS [J].Sensors, 2012, 12: 14 344-14 362
[14] Du Shuang. An Inertial Aided Cycle Slip Detection and Identification Method for Integrated PPP GPS/MEMS IMU System [C]. ION GNSS 2011, Portland, OR,USA, 2011
[15] Liu Shuai, Sun Fuping, Zhang Lundong, et al. Instantaneous Re-convergence of Precise Point Positioning by Using INS-Aided Cycle-Slip Correction [J]. Journal of Chinese Inertial Technology, 2015, 23(5):607-614 (刘帅,孙付平,张伦东, 等. INS辅助周跳修复以实现精密单点定位瞬时重新收敛[J]. 中国惯性技术学报, 2015, 23(5): 607-614)
[16] Gan Yu. GNSS/INS Integrated System Model Refining and Position and Attitude Determination Using Carrier Phase [D]. Zhengzhou: Information Engineering University, 2015 (甘雨. GNSS/INS组合系统模型精化及载波相位定位定姿[D].郑州:信息工程大学,2015)
[17] Liu Qiankun, Sui Lifen, Xiao Guorui, et al. A Method of Determining the Weight Matrix for BDS DCB Resolution [J]. Journal of Geomatics Science and Technology, 2015,32(5): 473-478 (刘乾坤, 隋立芬, 肖国锐, 等.北斗系统差分码偏差解算中一种新的定权方法[J].测绘科学技术学报, 2015, 32(5): 473-478)
[18] Zhang Xiaohong, Guo Fei, Li Pan, et al. Real-Time Quality Control Procedure for GNSS Precise Point Positioning[J].Geomatics and Information Science of Wuhan University, 2012, 37(8): 940-944 (张小红,郭斐,李攀,等.GNSS精密单点定位中的实时质量控制[J]. 武汉大学学报·信息科学版, 2012, 37(8): 940-944)
[19] Ma Guoju, Yu Baoguo, Jia Ruicai, et al. INS-Aided High Dynamic GNSS Rapid Acquisition and Stable Tracking [J]. Radio Engineering, 2016, 46(2):23-26 (马国驹,蔚保国,贾瑞才, 等. INS辅助GNSS高动态捕获跟踪技术研究[J]. 无线电工程, 2016, 46(2): 23-26)
[20] Ye Ping. MEMS IMU/GNSS Ultralight Integration Navigation Technology [D]. Shanghai: Shanghai Jiaotong University, 2011 (叶萍. MEMS INU/GNSS超紧组合导航技术研究[D]. 上海: 上海交通大学, 2011)
[2] Liu Jiyu. The Principle and Method of Navigation and Positioning Using GPS Satellites [M]. Beijing: Science Press, 2008(刘基余. GPS 卫星导航定位原理与方法[M]. 北京:科学出版社,2008)
[3] Li Zhenghang, Zhang Xiaohong. New Techniques and Precise Data Processing Methods of Satellite Navigation and Positioning [M]. Wuhan: Wuhan University Press, 2009(李征航,张小红.卫星导航定位新技术及高精度数据处理方法[M].武汉:武汉大学出版社,2009)
[4] Yuan Hong, Wan Weixing, Ning Baiqi, et al. A New Cycle Slip Detection and Correction Method Using Triple Differences Solution [J]. Acta Geodaetica et Cartographica Sinica, 1998, 27(3): 189-194(袁洪,万卫星,宁百齐,等. 基于三差解检测和修复GPS载波相位周跳新方法[J]. 测绘学报, 1998, 27(3): 189-194)
[5] Blewitt G. An Automatic Editing Algorithm for GPS Data [J]. Geophysical Research Letters, 1990,17(3): 199-202
[6] Fang Rongxin, Shi Chuang, Wei Na, et al. Real-Time Cycle-Slip Detection for Quality Control of GPS Measurements [J]. Geomatics and Information Science of Wuhan University, 2009,34(9): 1 094-1 098(方荣新,施闯,魏娜, 等. GPS数据质量控制中实时周跳探测研究[J]. 武汉大学学报·信息科学版, 2009,34(9): 1 094-1 098)
[7] Li Jinlong, Yang Yuanxi, Xu Junyi, et al. Real-Time Cycle-Slip Detection and Repair on Code-Phase Combinations for GNSS Triple Frequency Undifferenced Observations [J]. Acta Geodaetica et Cartographica Sinica, 2011, 40(6): 717-723(李金龙,杨元喜,徐君毅,等. 基于伪距相位组合实时探测与修复GNSS三频非差观测数据周跳[J]. 测绘学报,2011, 40(6): 717-723)
[8] Chen Pinxin, Zhang Chuanyin, Huang Kunxue. Cycle Slips Detecting and Repairing by Use of Phase Reduce Pseudorange Law and Ionized Layer Remant Method of Difference [J]. Journal of Geodesy and Geodynamics, 2010, 30(2): 120-125(陈品馨,章传银,黄昆学. 用相位减伪距法和电离层残差法探测和修复周跳[J]. 大地测量与地球动力学, 2010, 30(2): 120-125)
[9] Tan Zhaowei. Investigations on Cycle Slip Detection and Correction in GPS Precise Point Positioning [D]. Qingdao: Shandong University of Science and Technology, 2011(谭兆伟. GPS精密单点定位周跳探测与修复方法研究[D]. 青岛:山东科技大学,2011)
[10] Altmayer C. Enhancing the Integrity of Integrated GPS/INS Systems by Cycle Slip Detection and Correction [C]. IEEE Intelligent Vehicles Symposium,Dearborn, USA, 2000
[11] Lee H K, Wang J L, Rizos C. Carrier Phase Processing Issues for High Accuracy Integrated GPS/Pseudolite/INS Systems[C].The 11th IAIN World Congress,Berlin, Germany, 2003
[12] Colombo O, Bhakra U, Evans A. Inertial-Aided Cycle-Slip Detection/Correction for Precise, Long-Baseline Kinematic GPS [C]. ION GPS 1999, Nashville, USA, 1999
[13] Du Shuang, Gao Yang. Inertial Aided Cycle Slip Detection and Identification for Integrated PPP GPS and INS [J].Sensors, 2012, 12: 14 344-14 362
[14] Du Shuang. An Inertial Aided Cycle Slip Detection and Identification Method for Integrated PPP GPS/MEMS IMU System [C]. ION GNSS 2011, Portland, OR,USA, 2011
[15] Liu Shuai, Sun Fuping, Zhang Lundong, et al. Instantaneous Re-convergence of Precise Point Positioning by Using INS-Aided Cycle-Slip Correction [J]. Journal of Chinese Inertial Technology, 2015, 23(5):607-614 (刘帅,孙付平,张伦东, 等. INS辅助周跳修复以实现精密单点定位瞬时重新收敛[J]. 中国惯性技术学报, 2015, 23(5): 607-614)
[16] Gan Yu. GNSS/INS Integrated System Model Refining and Position and Attitude Determination Using Carrier Phase [D]. Zhengzhou: Information Engineering University, 2015 (甘雨. GNSS/INS组合系统模型精化及载波相位定位定姿[D].郑州:信息工程大学,2015)
[17] Liu Qiankun, Sui Lifen, Xiao Guorui, et al. A Method of Determining the Weight Matrix for BDS DCB Resolution [J]. Journal of Geomatics Science and Technology, 2015,32(5): 473-478 (刘乾坤, 隋立芬, 肖国锐, 等.北斗系统差分码偏差解算中一种新的定权方法[J].测绘科学技术学报, 2015, 32(5): 473-478)
[18] Zhang Xiaohong, Guo Fei, Li Pan, et al. Real-Time Quality Control Procedure for GNSS Precise Point Positioning[J].Geomatics and Information Science of Wuhan University, 2012, 37(8): 940-944 (张小红,郭斐,李攀,等.GNSS精密单点定位中的实时质量控制[J]. 武汉大学学报·信息科学版, 2012, 37(8): 940-944)
[19] Ma Guoju, Yu Baoguo, Jia Ruicai, et al. INS-Aided High Dynamic GNSS Rapid Acquisition and Stable Tracking [J]. Radio Engineering, 2016, 46(2):23-26 (马国驹,蔚保国,贾瑞才, 等. INS辅助GNSS高动态捕获跟踪技术研究[J]. 无线电工程, 2016, 46(2): 23-26)
[20] Ye Ping. MEMS IMU/GNSS Ultralight Integration Navigation Technology [D]. Shanghai: Shanghai Jiaotong University, 2011 (叶萍. MEMS INU/GNSS超紧组合导航技术研究[D]. 上海: 上海交通大学, 2011)