单点定位中一种载波相位平滑伪距方法
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摘要
针对伪距单点定位精度低,定位结果发散等问题,该文提出一种基于卫星高度角的卡尔曼滤波相位平滑伪距方法。基于该方法利用载波相位信息对C/A码伪距进行平滑,并用最小二乘法求解用户位置。通过实测的静态和动态数据验证了该方法的可行性。结果表明:和最小二乘法比,该方法定位结果更加平滑,一定程度上提高了伪距单点定位精度。其中,静态定位水平精度提升了20.7%,垂直精度提升了15.7%,三维精度提升了16.8%;动态定位水平精度提升了27.8%,垂直精度提升了20.8%,三维精度提升了21.2%。
Aiming at the problem of low positioning accuracy and discrete positioning solutions of pseudorange single point positioning(SPP)technology,in order to improve the positioning accuracy,a phase smoothing pseudorange method with Kalman filter algorithm based on satellite elevation angle was presented to process the pseudorange observations by using the phase observations.The user location was obtained by the least squares estimation.Both static and kinematic tests for global positioning system(GPS)were conducted to assess the positioning accuracy of the new method.The results indicated that the solutions were more smooth and significantly improved the positioning by an average of 20.7%,15.7%and 16.8%using the static experimental data set,and 27.8%,20.8% and 21.2% using the kinematic experimental data set in the horizon direction,vertical direction,and three-dimensional,respectively.
Aiming at the problem of low positioning accuracy and discrete positioning solutions of pseudorange single point positioning(SPP)technology,in order to improve the positioning accuracy,a phase smoothing pseudorange method with Kalman filter algorithm based on satellite elevation angle was presented to process the pseudorange observations by using the phase observations.The user location was obtained by the least squares estimation.Both static and kinematic tests for global positioning system(GPS)were conducted to assess the positioning accuracy of the new method.The results indicated that the solutions were more smooth and significantly improved the positioning by an average of 20.7%,15.7%and 16.8%using the static experimental data set,and 27.8%,20.8% and 21.2% using the kinematic experimental data set in the horizon direction,vertical direction,and three-dimensional,respectively.
引文
[1]刘根友,朱才连,任超.GPS相位与伪距联合实时定位算法[J].测绘通报,2001(10):10-11.(LIU Genyou,ZHU Cailian,REN Chao.Real-time positioning algorithm with GPS phase and pseudo-range[J].Bulletin of Surveying and Mapping,2001(10):10-11.)
[2]范士杰,孔祥元.基于Hatch滤波的GPS伪距相位平滑及其在单点定位中的应用[J].勘察科学技术,2007(4):40-42,59.(FAN Shijie,KONG Xiangyuan.GPS carrier phase smoothing on code pseudorange based on the Hatch filter and its application in point positioning[J].Site Investigation Science and Technology,2007(4):40-42,59.)
[3]邓强,黄顺吉.载波相位平滑GPS伪码伪距的研究[J].电子科技大学学报,1996,25(5):472-475.(DENG Qiang,HUANG Shunji.Research on GPS code pseudorange smoothing technique by carrier observables[J].Journal of UEST of China,1996,25(5):472-475.)
[4]刘经南,叶世榕.GPS非差相位精密单点定位技术探讨[J].武汉大学学报(信息科学版),2002,27(3):234-240.(LIU Jingnan,YE Shirong.GPS precise point positioning using undifferenced phase observation[J].Geomatics and Information Science of Wuhan University,2002,27(3):234-240.)
[5]喻国荣.推导GPS 3个频率相位平滑伪距方法[J].测绘通报,2003(8):23-24,32.(YU Guorong.Triple-frequency code measurements smoothed by carrier phase measurements[J].Bulletin of Surveying and Mapping,2003(8):23-24,32.)
[6] HATCH R R.The synergism of GPS code and carrier measurements[C]∥Proceedings of the 3rd International Geodetic Symposium on Satellite Doppler Positioning.Berlin:Springer,1982:1213-1232.
[7]谢钢.GPS原理与接收机设计[M].北京:电子工业出版社,2009:69-94.(XIE Gang.Principles of GPS and receiver design[M].Beijing:Publishing House of Electronics Industry,2009:69-94.)
[8]彭秀英,郭际明,薛树强.GPS单频伪距相位平滑及其单点定位的精度分析[J].测绘科学,2011,36(5):39-41.(PENG Xiuying,GUO Jiming,XIE Shuqiang.Accuracy analysis on GPS single frequency phase-smoothed pseudorange and it’s point positioning[J].Science of Surveying and Mapping,2011,36(5):39-41.)
[9]刘广军,郭晶,罗海英.GNSS最优载波相位平滑伪距研究[J].飞行器测控学报,2015,34(2):161-167.(LIU Guangjun,GUO Jing,LUO Haiying.Optimal smoothing of GNSS pseudo-range by carrier phase[J].Journal of Spacecraft TT&C Technology,2015,34(2):161-167.)
[10]徐博,刘文祥,廖鸣.一种基于电离层变化率的单频载波相位平滑伪距改进方法[J].中南大学学报(自然科学版),2014,45(2):464-467.(XU Bo,LIU Wenxiang,LIAO Ming.An improved method of single frequency carrier phase smoothing pseudo[J].Journal of Central South University(Science and Technology),2014,45(2):464-467.)
[11]吴富梅,唐颖哲.基于载波相位平滑伪距技术的GPS/INS组合导航[J].大地测量与地球动力学,2010,30(1):130-135.(WU Fumei,TANG Yingzhe.GPS/INS integrated navigation based on phase smoothing pseudorange[J].Journal of Geodesy and Geodynamics,2010,30(1):130-135.)
[12]彭秀英,郭际明,薛树强.GPS单频伪距相位平滑的离散性分析[J].测绘工程,2011,20(3):33-37.(PENG Xiuying,GUO Jiming,XUE Shuqiang.Analysis on the divergence of GPS single frequency phase-smoothed pseudorange[J].Engineering of Surverying and Mapping,2011,20(3):33-37.)
[13]张成军,杨力,陈军.提高GPS载波相位平滑伪距定位精度的算法研究[J].大地测量与地球动力学,2009,29(4):106-110.(ZHANG Chengjun,YANG Li,CHEN Jun.Improving point positioning accuracy using GPS carrier smoothed pseudorange[J].Journal of Geodesy and Geodynamics,2009,29(4):106-110.)
[14]孙伟,段顺利.GPS多普勒伪距平滑定位与测速方法[J].测绘科学,2016,41(12):81-84.(SUN Wei,DUAN Shunli.Pseudorange smoothing positioning and velocity determination method based on GPS Doppler[J].Science of Surveying and Mapping,2016,41(12):81-84.)
[15]郑南山,李增科.多普勒平滑伪距在GPS/INS紧耦合导航中的应用[J].武汉大学学报(信息科学版),2014,39(10):1158-1162.(ZHENG Nanshan,LI Zengke.Application of Doppler smoothing pseudo-range in GPS/INS tightly-coupled navigation[J].Geomatics and Information Science of Wuhan University,2014,39(10):1158-1162.)
[16]李朋,徐博,刘文祥,等.基于载波相位平滑伪距的卡尔曼滤波定位方法[J].全球定位系统,2013,38(4):16-19,27.(LI Peng,XU Bo,LIU Wenxiang,et al.An algorithm of positioning with Kalman filter based on carrier phase smoothed pseudo range[J].GNSS World of China,2013,38(4):16-19,27.)
[17]杨春燕,吴德伟,卢艳娥,等.基于补充卡尔曼滤波的载波相位平滑伪距算法[J].空军工程大学学报(自然科学版),2008,9(5):52-56.(YANG Chunyan,WU Dewei,LU Yan’e,et al.A Phase-smoothed pseudo-range algorithm based on complementary Kalman filtering[J].Journal of Air Force Engineering University(Natural Science Edition),2008,9(5):52-56.)
[18]赵琳,李亮,黄卫权.自适应卡尔曼滤波在载波相位平滑伪距中的应用[J].哈尔滨工程大学学报,2010,31(12):1636-1641.(ZHAO Lin,LI Liang,HUANG Weiquan.An adaptive Kalman filtering algorithm for carrier smoothed code[J].Journal of Harbin Engineering University,2010,31(12):1636-1641.)
[19]王甫红,邵晓东,郭磊,等.一种联合载波相位观测值的GPS/BDS滤波导航算法[J].测绘科学技术学报,2016,33(2):111-115.(WANG Puhong,SHAO Xiaodong,GUO Lei,et al.A Kalman filter algorithm of GPS/BDS navigation using inter-epoch differenced carrier-phase measurements[J].Journal of Geomatics Science and Technology,2016,33(2):111-115.)
[20]唐卫明,张先春,惠孟堂,等.基于卡尔曼滤波的北斗伪距单点定位算法研究[J].测绘通报,2016(10):6-8,38.(TANG Weiming,ZHANG Xianchun,HUI Mengtang,et al.Research on BDS pseudo-range single point positioning algorithm based on Kalman filtering[J].Bulletin of Surveying and Mapping,2016(10):6-8,38.)
[21]戴吾蛟,丁晓利,朱建军.基于观测值质量指标的GPS观测量随机模型分析[J].武汉大学学报(信息科学版),2008,33(7):718-722.(DAI Wujiao,DING Xiaoli,ZHU Jianjun.Comparing GPS stochastic models based on observation quality indices[J].Geomatics and Information Science of Wuhan University,2008,33(7):718-722.)
[22]张小红,丁乐乐.北斗二代观测值质量分析及随机模型精化[J].武汉大学学报(信息科学版),2013,38(7):832-836.(ZHANG Xiaohong,DING Lele.Quality analysis of the second generation compass observables and stochastic model refining[J].Geomatics and Information Science of Wuhan University,2013,38(7),832-836.)
[23]ZLDEMIR M T.The stochastic modeling of GPS observations[J].Turkish Journal of Engineering and Environmental Sciences,2004,28(4),223-232.
[2]范士杰,孔祥元.基于Hatch滤波的GPS伪距相位平滑及其在单点定位中的应用[J].勘察科学技术,2007(4):40-42,59.(FAN Shijie,KONG Xiangyuan.GPS carrier phase smoothing on code pseudorange based on the Hatch filter and its application in point positioning[J].Site Investigation Science and Technology,2007(4):40-42,59.)
[3]邓强,黄顺吉.载波相位平滑GPS伪码伪距的研究[J].电子科技大学学报,1996,25(5):472-475.(DENG Qiang,HUANG Shunji.Research on GPS code pseudorange smoothing technique by carrier observables[J].Journal of UEST of China,1996,25(5):472-475.)
[4]刘经南,叶世榕.GPS非差相位精密单点定位技术探讨[J].武汉大学学报(信息科学版),2002,27(3):234-240.(LIU Jingnan,YE Shirong.GPS precise point positioning using undifferenced phase observation[J].Geomatics and Information Science of Wuhan University,2002,27(3):234-240.)
[5]喻国荣.推导GPS 3个频率相位平滑伪距方法[J].测绘通报,2003(8):23-24,32.(YU Guorong.Triple-frequency code measurements smoothed by carrier phase measurements[J].Bulletin of Surveying and Mapping,2003(8):23-24,32.)
[6] HATCH R R.The synergism of GPS code and carrier measurements[C]∥Proceedings of the 3rd International Geodetic Symposium on Satellite Doppler Positioning.Berlin:Springer,1982:1213-1232.
[7]谢钢.GPS原理与接收机设计[M].北京:电子工业出版社,2009:69-94.(XIE Gang.Principles of GPS and receiver design[M].Beijing:Publishing House of Electronics Industry,2009:69-94.)
[8]彭秀英,郭际明,薛树强.GPS单频伪距相位平滑及其单点定位的精度分析[J].测绘科学,2011,36(5):39-41.(PENG Xiuying,GUO Jiming,XIE Shuqiang.Accuracy analysis on GPS single frequency phase-smoothed pseudorange and it’s point positioning[J].Science of Surveying and Mapping,2011,36(5):39-41.)
[9]刘广军,郭晶,罗海英.GNSS最优载波相位平滑伪距研究[J].飞行器测控学报,2015,34(2):161-167.(LIU Guangjun,GUO Jing,LUO Haiying.Optimal smoothing of GNSS pseudo-range by carrier phase[J].Journal of Spacecraft TT&C Technology,2015,34(2):161-167.)
[10]徐博,刘文祥,廖鸣.一种基于电离层变化率的单频载波相位平滑伪距改进方法[J].中南大学学报(自然科学版),2014,45(2):464-467.(XU Bo,LIU Wenxiang,LIAO Ming.An improved method of single frequency carrier phase smoothing pseudo[J].Journal of Central South University(Science and Technology),2014,45(2):464-467.)
[11]吴富梅,唐颖哲.基于载波相位平滑伪距技术的GPS/INS组合导航[J].大地测量与地球动力学,2010,30(1):130-135.(WU Fumei,TANG Yingzhe.GPS/INS integrated navigation based on phase smoothing pseudorange[J].Journal of Geodesy and Geodynamics,2010,30(1):130-135.)
[12]彭秀英,郭际明,薛树强.GPS单频伪距相位平滑的离散性分析[J].测绘工程,2011,20(3):33-37.(PENG Xiuying,GUO Jiming,XUE Shuqiang.Analysis on the divergence of GPS single frequency phase-smoothed pseudorange[J].Engineering of Surverying and Mapping,2011,20(3):33-37.)
[13]张成军,杨力,陈军.提高GPS载波相位平滑伪距定位精度的算法研究[J].大地测量与地球动力学,2009,29(4):106-110.(ZHANG Chengjun,YANG Li,CHEN Jun.Improving point positioning accuracy using GPS carrier smoothed pseudorange[J].Journal of Geodesy and Geodynamics,2009,29(4):106-110.)
[14]孙伟,段顺利.GPS多普勒伪距平滑定位与测速方法[J].测绘科学,2016,41(12):81-84.(SUN Wei,DUAN Shunli.Pseudorange smoothing positioning and velocity determination method based on GPS Doppler[J].Science of Surveying and Mapping,2016,41(12):81-84.)
[15]郑南山,李增科.多普勒平滑伪距在GPS/INS紧耦合导航中的应用[J].武汉大学学报(信息科学版),2014,39(10):1158-1162.(ZHENG Nanshan,LI Zengke.Application of Doppler smoothing pseudo-range in GPS/INS tightly-coupled navigation[J].Geomatics and Information Science of Wuhan University,2014,39(10):1158-1162.)
[16]李朋,徐博,刘文祥,等.基于载波相位平滑伪距的卡尔曼滤波定位方法[J].全球定位系统,2013,38(4):16-19,27.(LI Peng,XU Bo,LIU Wenxiang,et al.An algorithm of positioning with Kalman filter based on carrier phase smoothed pseudo range[J].GNSS World of China,2013,38(4):16-19,27.)
[17]杨春燕,吴德伟,卢艳娥,等.基于补充卡尔曼滤波的载波相位平滑伪距算法[J].空军工程大学学报(自然科学版),2008,9(5):52-56.(YANG Chunyan,WU Dewei,LU Yan’e,et al.A Phase-smoothed pseudo-range algorithm based on complementary Kalman filtering[J].Journal of Air Force Engineering University(Natural Science Edition),2008,9(5):52-56.)
[18]赵琳,李亮,黄卫权.自适应卡尔曼滤波在载波相位平滑伪距中的应用[J].哈尔滨工程大学学报,2010,31(12):1636-1641.(ZHAO Lin,LI Liang,HUANG Weiquan.An adaptive Kalman filtering algorithm for carrier smoothed code[J].Journal of Harbin Engineering University,2010,31(12):1636-1641.)
[19]王甫红,邵晓东,郭磊,等.一种联合载波相位观测值的GPS/BDS滤波导航算法[J].测绘科学技术学报,2016,33(2):111-115.(WANG Puhong,SHAO Xiaodong,GUO Lei,et al.A Kalman filter algorithm of GPS/BDS navigation using inter-epoch differenced carrier-phase measurements[J].Journal of Geomatics Science and Technology,2016,33(2):111-115.)
[20]唐卫明,张先春,惠孟堂,等.基于卡尔曼滤波的北斗伪距单点定位算法研究[J].测绘通报,2016(10):6-8,38.(TANG Weiming,ZHANG Xianchun,HUI Mengtang,et al.Research on BDS pseudo-range single point positioning algorithm based on Kalman filtering[J].Bulletin of Surveying and Mapping,2016(10):6-8,38.)
[21]戴吾蛟,丁晓利,朱建军.基于观测值质量指标的GPS观测量随机模型分析[J].武汉大学学报(信息科学版),2008,33(7):718-722.(DAI Wujiao,DING Xiaoli,ZHU Jianjun.Comparing GPS stochastic models based on observation quality indices[J].Geomatics and Information Science of Wuhan University,2008,33(7):718-722.)
[22]张小红,丁乐乐.北斗二代观测值质量分析及随机模型精化[J].武汉大学学报(信息科学版),2013,38(7):832-836.(ZHANG Xiaohong,DING Lele.Quality analysis of the second generation compass observables and stochastic model refining[J].Geomatics and Information Science of Wuhan University,2013,38(7),832-836.)
[23]ZLDEMIR M T.The stochastic modeling of GPS observations[J].Turkish Journal of Engineering and Environmental Sciences,2004,28(4),223-232.
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