为比较分析城市道路观测环境下BDS-3/GPS组合RTK测量性能,探讨一种基于卡尔曼滤波算法的RTK测量模型。在统一BDS-3/GPS组合RTK测量时空基准的基础上,建立RTK观测方程模型,利用LAMBDA算法快速确定双差整周模糊度,并基于卡尔曼滤波算法求...为比较分析城市道路观测环境下BDS-3/GPS组合RTK测量性能,探讨一种基于卡尔曼滤波算法的RTK测量模型。在统一BDS-3/GPS组合RTK测量时空基准的基础上,建立RTK观测方程模型,利用LAMBDA算法快速确定双差整周模糊度,并基于卡尔曼滤波算法求解RTK观测方程模型测量结果;基于Visual Studio 2020平台,运用C/C++编程语言,设计和开发RTK数据处理软件(KalRTK),并比较分析BDS-3/GPS组合RTK测量结果。通过城市道路实测数据分析结果表明,BDS-3系统沿东西向跟踪卫星能力要略弱于GPS系统;BDS-3/GPS组合RTK测量的平面精度与高程精度均优于1.6cm,点位精度优于2.2cm,与GPS双频RTK测量精度基本相当,但优于BDS-3双频RTK测量精度。展开更多
With the completion of Chinese BeiDou Navigation Satellite System(BDS),the world has begun to enjoy the Positioning,Navigation,and Timing(PNT)services of four Global Navigation Satellite Systems(GNSS).In order to impr...With the completion of Chinese BeiDou Navigation Satellite System(BDS),the world has begun to enjoy the Positioning,Navigation,and Timing(PNT)services of four Global Navigation Satellite Systems(GNSS).In order to improve the GNSS performance and expand its applications,Low Earth Orbit(LEO)Enhanced Global Navigation Satellite System(LeGNSS)is being vigorously advocated.Combined with high-,medium-,and low-earth orbit satellites,it can improve GNSS performance in terms of orbit determination,Precise Point Positioning(PPP)convergence time,etc.This paper comprehensively reviews the current status of LeGNSS,focusing on analyzing its advantages and challenges for precise orbit and clock determination,PPP convergence,earth rotation parameter estimation,and global ionosphere modeling.Thanks to the fast geometric change brought by LEO satellites,LeGNSS is expected to fundamentally solve the problem of the long convergence time of PPP without any augmentation.The convergence time can be shortened within 1 minute if appropriate LEO constellations are deployed.However,there are still some issues to overcome,such as the optimization of LEO constellation as well as the real time LEO precise orbit and clock determination.展开更多
A new system’s geo-referencing from space is entirely free from any GNSS (GPS or equivalent) systems. The system addresses to various strategic and economic applications such as in remote clock synchronism, aircraft ...A new system’s geo-referencing from space is entirely free from any GNSS (GPS or equivalent) systems. The system addresses to various strategic and economic applications such as in remote clock synchronism, aircraft and balloon navigation, missile and smart bombs tracking, satellite orbital determination and remote target geo-positioning. The new geometry concept corresponds to an “inverted GPS” configuration, utilizing four ground-based reference stations, synchronized in time, installed at well known geodesic coordinates and a repeater in space, carried by an aircraft, balloon, satellite, etc. Signal transmitted by one of the reference bases is retransmitted by the transponder, received back by the four bases, producing four ranging measurements which are corrected for the time delays undergone in every retransmission. A minimization function was derived to compare the repeater’s positions referred to at least two groups of three reference bases, to correct for the signal transit time at the repeater and propagation delays, and consequently to provide the accurate repeater position for each time interaction. Once the repeater’s coordinates are known, the other determinations and applications become straightforward. The system solving algorithm and process performance has been demonstrated by simulations adopting a practical example with the transponder carried by an aircraft moving over bases and a target on the ground. Effects produced by reference clock synchronism uncertainties at the four bases on the measurements are reviewed.展开更多
微小型位置姿态测量系统(micro position and orientation system,MPOS)是为成像载荷提供实时高精度运动补偿信息的关键装置,其测量精度严重制约成像精度的提升。针对MPOS集中滤波实时性差的问题,在基于双ARM(advanced reduced instruct...微小型位置姿态测量系统(micro position and orientation system,MPOS)是为成像载荷提供实时高精度运动补偿信息的关键装置,其测量精度严重制约成像精度的提升。针对MPOS集中滤波实时性差的问题,在基于双ARM(advanced reduced instruction set computing machines)硬件平台的基础上,采用联邦滤波实时组合算法对多组传感器数据进行最优信息融合。以微惯性测量单元为公共参考系统,双天线全球导航卫星系统(global navigation satellite system,GNSS)和磁强计作为子系统提供量测信息,将各个子系统得到的局部误差协方差及状态估计值在主滤波器中进行信息融合得到最优估计值。通过动态实验验证了基于联邦滤波实时组合方法的MPOS,其位置、速度、航向角及水平姿态角精度可达0.6 m,0.03 m/s,0.15°,0.04°。展开更多
The requirement and feasibility of the positioning system using digital television(DTV)broadcasting signals are analyzed.The principle of DTV positioning on the basis of frame synchronization is brought forward and th...The requirement and feasibility of the positioning system using digital television(DTV)broadcasting signals are analyzed.The principle of DTV positioning on the basis of frame synchronization is brought forward and the ranging characteristic is studied that the observables are asynchronously measured during the same epoch interval.The models of the pseudo-range observation and Doppler carrier phase integral are researched.The system observation and state equations are presented on the basis of the above models.The simulation results showed that DTV positioning technology could remarkably improve the precision of system state estimates using smoothing methods for positioning systems or integrated navigation systems.The DTV positioning that has a sub-meter level ranging error and meter level positioning accuracy can parallel with and even taken as a beneficial substitute for the tradition positioning technology.展开更多
文摘为比较分析城市道路观测环境下BDS-3/GPS组合RTK测量性能,探讨一种基于卡尔曼滤波算法的RTK测量模型。在统一BDS-3/GPS组合RTK测量时空基准的基础上,建立RTK观测方程模型,利用LAMBDA算法快速确定双差整周模糊度,并基于卡尔曼滤波算法求解RTK观测方程模型测量结果;基于Visual Studio 2020平台,运用C/C++编程语言,设计和开发RTK数据处理软件(KalRTK),并比较分析BDS-3/GPS组合RTK测量结果。通过城市道路实测数据分析结果表明,BDS-3系统沿东西向跟踪卫星能力要略弱于GPS系统;BDS-3/GPS组合RTK测量的平面精度与高程精度均优于1.6cm,点位精度优于2.2cm,与GPS双频RTK测量精度基本相当,但优于BDS-3双频RTK测量精度。
基金the National Natural Science Funds of China[grant numbers 41874030,42074026]Natural Science Funds of Shanghai[grant number 21ZR1465600]+3 种基金the Program of Shanghai Academic Research Leader[grant number 20XD1423800]the Innovation Program of Shanghai Municipal Education Commission[grant number 2021-01-07-00-07-E00095]the“Shuguang Program”supported by Shanghai Education Development Foundation and Shanghai Municipal Education Commission[grant number 20SG18]the Scientific and Technological Innovation Plan from Shanghai Science and Technology Committee[grant numbers 20511103302,20511103402 and 20511103702].
文摘With the completion of Chinese BeiDou Navigation Satellite System(BDS),the world has begun to enjoy the Positioning,Navigation,and Timing(PNT)services of four Global Navigation Satellite Systems(GNSS).In order to improve the GNSS performance and expand its applications,Low Earth Orbit(LEO)Enhanced Global Navigation Satellite System(LeGNSS)is being vigorously advocated.Combined with high-,medium-,and low-earth orbit satellites,it can improve GNSS performance in terms of orbit determination,Precise Point Positioning(PPP)convergence time,etc.This paper comprehensively reviews the current status of LeGNSS,focusing on analyzing its advantages and challenges for precise orbit and clock determination,PPP convergence,earth rotation parameter estimation,and global ionosphere modeling.Thanks to the fast geometric change brought by LEO satellites,LeGNSS is expected to fundamentally solve the problem of the long convergence time of PPP without any augmentation.The convergence time can be shortened within 1 minute if appropriate LEO constellations are deployed.However,there are still some issues to overcome,such as the optimization of LEO constellation as well as the real time LEO precise orbit and clock determination.
文摘A new system’s geo-referencing from space is entirely free from any GNSS (GPS or equivalent) systems. The system addresses to various strategic and economic applications such as in remote clock synchronism, aircraft and balloon navigation, missile and smart bombs tracking, satellite orbital determination and remote target geo-positioning. The new geometry concept corresponds to an “inverted GPS” configuration, utilizing four ground-based reference stations, synchronized in time, installed at well known geodesic coordinates and a repeater in space, carried by an aircraft, balloon, satellite, etc. Signal transmitted by one of the reference bases is retransmitted by the transponder, received back by the four bases, producing four ranging measurements which are corrected for the time delays undergone in every retransmission. A minimization function was derived to compare the repeater’s positions referred to at least two groups of three reference bases, to correct for the signal transit time at the repeater and propagation delays, and consequently to provide the accurate repeater position for each time interaction. Once the repeater’s coordinates are known, the other determinations and applications become straightforward. The system solving algorithm and process performance has been demonstrated by simulations adopting a practical example with the transponder carried by an aircraft moving over bases and a target on the ground. Effects produced by reference clock synchronism uncertainties at the four bases on the measurements are reviewed.
文摘微小型位置姿态测量系统(micro position and orientation system,MPOS)是为成像载荷提供实时高精度运动补偿信息的关键装置,其测量精度严重制约成像精度的提升。针对MPOS集中滤波实时性差的问题,在基于双ARM(advanced reduced instruction set computing machines)硬件平台的基础上,采用联邦滤波实时组合算法对多组传感器数据进行最优信息融合。以微惯性测量单元为公共参考系统,双天线全球导航卫星系统(global navigation satellite system,GNSS)和磁强计作为子系统提供量测信息,将各个子系统得到的局部误差协方差及状态估计值在主滤波器中进行信息融合得到最优估计值。通过动态实验验证了基于联邦滤波实时组合方法的MPOS,其位置、速度、航向角及水平姿态角精度可达0.6 m,0.03 m/s,0.15°,0.04°。
基金supported by the Cultivation Fund of the Key Scientific and Technical Innovation Project of Ministry of Education of China(No.706028).
文摘The requirement and feasibility of the positioning system using digital television(DTV)broadcasting signals are analyzed.The principle of DTV positioning on the basis of frame synchronization is brought forward and the ranging characteristic is studied that the observables are asynchronously measured during the same epoch interval.The models of the pseudo-range observation and Doppler carrier phase integral are researched.The system observation and state equations are presented on the basis of the above models.The simulation results showed that DTV positioning technology could remarkably improve the precision of system state estimates using smoothing methods for positioning systems or integrated navigation systems.The DTV positioning that has a sub-meter level ranging error and meter level positioning accuracy can parallel with and even taken as a beneficial substitute for the tradition positioning technology.
