CN108802780A - Bias property analysis method between a kind of GPS/BDS differential systems - Google Patents
Bias property analysis method between a kind of GPS/BDS differential systems Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
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Abstract
The invention discloses bias property analysis methods between a kind of GPS/BDS differential systems, including：First, the system on the basis of GPS, build double difference model in GPS system, then BDS reference satellites are chosen, carry out parameter decorrelation, it is finally introducing between the initial epoch reference satellite phantom stations of GPS singly poor fuzziness benchmark and carries out benchmark backtracking, restore the continuity of deviation fractional part between carrier difference system.
Description
Technical field
It is the present invention relates to a kind of multisystem fusion navigator fix technology, more particularly to inclined between a kind of GPS/BDS differential systems
Poor characteristic analysis method belongs to GNSS (Global Navigation Satellite System) positioning and is led with airmanship
Domain.
Background technology
In relative positioning, when different satellite systems is observed value fusion treatment, two kinds of models of generally use：It is a kind of
It is the pine combination model of the respective reference star of each Systematic selection, i.e. difference model in system；Another kind is that different system selection is common
The tight integration model of reference star, i.e. difference model between system.For CDMA (Code Division Multiple Access) system
System, satellite carry out the carrier wave and pseudorange hardware delay that cancellation receiver end is capable of in the timesharing of system internal difference, and poor between carry out system
Timesharing, since the signal modulation mode that each system uses is different, hardware delay is generally difficult to eliminate, needs to extract differential system
Between deviation carry out tight integration positioning as prior information.
Between research for deviation between differential system at present focuses primarily upon the identical frequency of different system, mainly answer
For single-frequency positioning model.The case where more encountering different frequency in more GNSS observations fusion treatments, such as GPS/
BDS dual systems do not have common frequency.Therefore deviation is unfavorable for preferably sending out between the differential system of identical frequency only between research system
The advantage for waving more GNSS fusion positioning, need to be into for bias property between the differential system of different frequency between system (such as GPS/BDS)
One step research.
Invention content
To make up the deficiency of existing research, the advantage of more GNSS tight integrations positioning is preferably played, the present invention provides a kind of
Bias property analysis method between GPS/BDS differential systems, using double difference model between GPS/BDS observation structure systems, by drawing
Enter BDS reference satellites and carry out parameter decorrelation, is carried out by single poor fuzziness benchmark between introducing initial GPS reference satellites phantom station
Benchmark is recalled, and the continuity of deviation fractional part between differential system is restored.
The present invention uses following technical scheme to solve above-mentioned technical problem：
Bias property analysis method between a kind of GPS/BDS differential systems of present invention offer, includes the following steps：
Step 1, GPS reference satellites are selected, double difference model between double difference model and GPS/BDS systems in GPS system is built；
Step 2, BDS reference satellites are selected, parameter decorrelation is carried out；
Step 3, benchmark backtracking is carried out, the continuity of deviation fractional part between carrier difference system is restored, output reference returns
Deviation between differential system after tracing back.
As the further technical solution of the present invention, step 1 is specially：
Step 11, using zero base line, single differential mode type between building station：
In formula, s=1G,2G,…,mG, mGIndicate GPS satellite number,Single poor carrier observations between the station of expression GPS satellite s
Value,Single poor station star is away from Δ dt indicates single poor reception machine clock correction between station, λ between indicating the station of GPS satellite sGIndicate GPS satellite wave
It is long, Δ δGSingle poor carrier wave hardware delay between expression GPS satellite receiver end station,Single differential mode is pasted between indicating the station of GPS satellite s
Degree,Single difference measurements noise between the station of expression GPS satellite s,Single poor Pseudo-range Observations, Δ between the station of expression GPS satellite s
dGSingle poor pseudorange hardware delay between expression GPS satellite receiver end station,Single poor pseudo range measurement is made an uproar between indicating the station of GPS satellite s
Sound；Q=1C,2C,…,nC, nCIndicate BDS satellite numbers,Single poor carrier observations between the station of expression BDS satellites q,It indicates
Single poor station star is away from λ between the station of BDS satellites qCIndicate BDS satellite wavelengths, Δ δCSingle poor carrier wave between expression BDS satellite receiver end station
Hardware delay,Single poor fuzziness between the station of expression BDS satellites q,Single difference measurements noise between the station of expression BDS satellites q,Single poor Pseudo-range Observations, Δ d between the station of expression BDS satellites qCSingle poor pseudorange hardware prolongs between indicating BDS satellite receiver end station
Late,Single poor pseudo range measurement noise between the station of expression BDS satellites q；
Step 12, GPS reference satellites are selected, single differential mode type, establishes double difference in GPS system between the station built according to step 11
Double difference model between model and GPS/BDS systems：
With GPS satellite 1GOn the basis of satellite, then formula (5) and formula (6) are double difference model in GPS system, formula (7) and formula (8)
The double difference model between GPS/BDS systems：
In formula,Indicate double difference carrier observations in GPS system,Indicate GPS system in double difference station star away from,Indicate double difference fuzziness in GPS system,Indicate double difference carrier observations noise in GPS system,It indicates
Double difference Pseudo-range Observations in GPS system,Indicate double difference carrier observations noise in GPS system；Indicate GPS/BDS
Double difference carrier observations between system,Indicate GPS/BDS systems between double difference station star away from,Indicate GPS/BDS systems
Between double difference fuzziness,Single poor fuzziness between expression GPS reference satellites station,Indicate GPS/BDS
Deviation between carrier difference system,Double difference carrier observations noise between expression GPS/BDS systems,Indicate GPS/BDS
Double difference Pseudo-range Observations between system,Deviation between expression GPS/BDS pseudo range difference systems,It indicates
Double difference pseudorange observation noise between GPS/BDS systems.
As the further technical solution of the present invention, step 2 is specially：
Step 21, BDS reference satellites are selected, by double difference fuzziness between GPS/BDS systems again ginseng：
Choose BDS satellites 1COn the basis of satellite, then according to step 12, double difference fuzziness is expressed as between GPS/BDS systems：
In formula,Single poor fuzziness between the station of expression BDS reference satellites,Indicate that double difference is fuzzy in BDS systems
Degree,Indicate double difference fuzziness between BDS reference satellites and the GPS/BDS systems of GPS reference satellites；
According to formula (9), formula (7) is expressed as：
ThenFor the shared parameter and linear correlation of all BDS satellites；
Step 22, merge and share parameter, by deviation between carrier difference system again ginseng, realize parameter decorrelation：
According to formula (10), double difference observational equation is expressed as between merging the GPS/BDS systems after sharing parameter：
In formula, deviation between the carrier difference system after ginsengization again
As the further technical solution of the present invention, step 3 is specially：
Step 31, single poor fuzziness benchmark between additional GPS reference satellite initial virtuals station：
If single poor fuzziness initial value is 0 between GPS reference satellite phantom stations, i.e.,It indicates initial
Epoch t0GPS reference satellite phantom stations between single poor fuzziness, then t0Deviation between the carrier difference system of epochWith
Deviation between the carrier difference system of progress benchmark backtrackingRespectively：
Step 32, benchmark backtracking is carried out, the continuity of deviation fractional part between carrier difference system is restored：
Assuming that in t1Epoch GPS reference satellite becomes iG, then single poor fuzziness between the phantom station of this epoch
Deviation between carrier difference systemAnd carry out deviation between the carrier difference system of benchmark backtrackingRespectively：
Step 33, deviation between the differential system after output reference backtracking.
The present invention has the following technical effects using above technical scheme is compared with the prior art：
(1) present invention is overcome existing using variance analysis between different frequency observation progress differential system between GNSS system
Technology must be according to ensureing that identical with observation frequency between GNSS system this is insufficient；
(2) present invention while being compatible between different GNSS systems that deviation calculates this between identical frequency observed difference subsystem
Situation.
Description of the drawings
Fig. 1 is the flow chart of bias property analysis method between a kind of GPS/BDS differential systems provided by the invention.
Fig. 2 be BDS B1 and GPS L1 carrier difference system between biased sequence figure.
Fig. 3 be BDS B1 and GPS L1 pseudo range difference system between biased sequence figure.
Fig. 4 be BDS B2 and GPS L2 carrier difference system between biased sequence figure.
Fig. 5 be BDS B2 and GPS L2 pseudo range difference system between biased sequence figure.
Specific implementation mode
Technical scheme of the present invention is described in further detail below in conjunction with the accompanying drawings：
In the following with reference to the drawings and specific embodiments, the present invention is furture elucidated, it should be understood that these examples are merely to illustrate this
It invents rather than limits the scope of the invention, after having read the present invention, those skilled in the art are various to the present invention's
The modification of equivalent form falls within the application range as defined in the appended claims.
Bias property analysis method between a kind of GPS/BDS differential systems of the present invention, as shown in Figure 1, including the following steps：
Step 1, GPS (Global Positioning System) reference satellite is selected, double difference mould in GPS system is built
Double difference model between type and GPS/BDS (Bei Dou Navigation Satellite System) system；
The structure of double difference model includes the following steps between double difference model and GPS/BDS systems in the GPS system：
Step 11, it using single differential mode type between zero base line building station, eliminates between spatially-correlated errors and satellite correlated error
It influences：
Assuming that observing m altogetherGGPS satellite and nCBDS satellites, then for zero base line, single poor observation model can be between standing
It is expressed as：
In formula, subscript s=1G,2G,…,mGIndicate GPS satellite,Single poor carrier observations between expression GPS satellite station
(rice),Single poor station star is away from Δ dt indicates single poor reception machine clock correction between station, λ between indicating GPS satellite stationGIndicate GPS satellite wave
It is long, Δ δGSingle poor carrier wave hardware delay between expression GPS satellite receiver end station,Single poor fuzziness between expression GPS satellite station,Single difference measurements noise between expression GPS satellite station,Single poor Pseudo-range Observations, Δ d between the station of expression GPS satelliteGIt indicates
Single poor pseudorange hardware delay between GPS satellite receiver end station,Single poor pseudo range measurement noise between expression GPS satellite station；Subscript q
=1C,2C,…,nCIndicate BDS satellites,Single poor carrier observations (rice) between expression BDS satellite stations,Indicate BDS satellites
Single poor station star is away from λ between standingCIndicate BDS satellite wavelengths, Δ δCSingle poor carrier wave hardware delay between expression BDS satellite receiver end station,Single poor fuzziness between expression BDS satellite stations,Single difference measurements noise between expression BDS satellite stations,Indicate BDS satellites
Single poor Pseudo-range Observations, Δ d between standingCSingle poor pseudorange hardware delay between expression BDS satellite receiver end station,Indicate BDS satellites
Single poor pseudo range measurement noise between standing.
Step 22, GPS reference satellites are selected, single differential mode type, establishes double difference mould in GPS system between being built a station according to step 11
Double difference model between type and GPS/BDS systems：
Assuming that with GPS satellite 1GOn the basis of satellite, then institute's established model be represented by：
Formula (5) is with double difference model in formula (6) i.e. GPS system, double difference model between formula (7) and formula (8) i.e. GPS/BDS systems.
Wherein,Deviation between expression GPS/BDS carrier difference systems,Indicate GPS/
Deviation between BDS pseudo range difference systems,Indicate double difference carrier observations in GPS system,Indicate double in GPS system
Difference station star away from,Indicate double difference fuzziness in GPS system,Indicate double difference carrier observations noise in GPS system,Indicate double difference Pseudo-range Observations in GPS system,Indicate double difference carrier observations noise in GPS system；
Double difference carrier observations between expression GPS/BDS systems,Indicate GPS/BDS systems between double difference station star away from,It indicates
Double difference fuzziness between GPS/BDS systems,Single poor fuzziness between expression GPS reference satellites station,Indicate GPS/BDS
Double difference carrier observations noise between system,Double difference Pseudo-range Observations between expression GPS/BDS systems,Indicate GPS/
Double difference pseudorange observation noise between BDS systems.
So far, double difference model has been established between GPS/BDS systems, and pseudorange biases computation model between differential system has been established.
Pseudorange biases sequence chart between the differential system of Fig. 3 expression GPS L1 and BDS B1, Fig. 5 indicate the difference system of GPS L2 and BDS B2
Pseudorange biases sequence chart between system.
Step 2, BDS reference satellites are selected, parameter decorrelation is carried out.
The parameter decorrelation includes the following steps：
Step 21, BDS reference satellites are selected, by double difference fuzziness between GPS/BDS systems again ginseng：
Assuming that choosing BDS satellites 1COn the basis of satellite, then according to step 12, double difference fuzziness can table between GPS/BDS systems
It is shown as：
In formula,Single poor fuzziness between the station of expression BDS reference satellites,Indicate that double difference is fuzzy in BDS systems
Degree,Indicate double difference fuzziness between BDS reference satellites and the GPS/BDS systems of GPS reference satellites.
According to formula (9), formula (7) is represented by：
In formula (10),Parameter and linear correlation are shared for all BDS satellites.
Step 22, merge and share parameter, by deviation between differential system again ginseng, realize parameter decorrelation：
According to formula (10), double difference observational equation is represented by between merging the GPS/BDS systems after sharing parameter：
In formula, Carrier difference system after ginsengization of attaching most importance to
Between deviation, hereinafter will be withForm is as deviation between carrier difference system.
Step 3, benchmark backtracking is carried out, deviation (DISB, Differential Inter- between carrier difference system is restored
System Bias) fractional part continuity.
The progress benchmark backtracking, the continuity of deviation fractional part includes the following steps between restoring carrier difference system：
Step 31, single poor fuzziness benchmark between additional GPS reference satellite initial virtuals station：
If single poor fuzziness initial value is 0 between GPS reference satellite phantom stations, i.e.,It indicates initial
Epoch t0GPS reference satellite phantom stations between single poor fuzziness, then t0Deviation between the carrier difference system at momentWith
Deviation between the carrier difference system of progress benchmark backtrackingRespectively：
Step 32, benchmark backtracking is carried out, the continuity of deviation fractional part between carrier difference system is restored：
Assuming that in t1Epoch GPS reference satellite becomes iG, then the poor fuzziness of virtual list of this epochCarrier wave
Deviation between differential systemAnd carry out deviation between the carrier difference system of benchmark backtrackingRespectively：
When GPS reference satellites when changing at other moment again, benchmark retrogressive method is identical with step 32.
Step 33, deviation between the differential system after output reference backtracking.
Benchmark retrogressive method is as follows with form table 1：
Table 1：Deviation between carrier difference system under different reference satellites
Fig. 2 indicates to have restored deviation fractional part between the carrier difference system of fractional part successional GPS L1 and BDS B1
Sub-sequence figure, Fig. 4 indicate to have restored biased sequence between the carrier difference system of fractional part successional GPS L2 and BDS B2
Figure.
The extraction of deviation is the premise of more GNSS tight integrations high-precision relative positionings between differential system.This method is with GPS
Baseline system is defended using difference model between double difference model and BDS systems in zero base line structure GPS system by introducing BDS benchmark
Star carries out double difference fuzziness ginsengization and parameter decorrelation again between GPS/BDS systems.It is empty by introducing GPS reference satellites initial epoch
Single poor fuzziness benchmark carries out benchmark backtracking between quasi- station, restores the continuity of deviation fractional part between difference carrier system.This hair
The bright temporal characteristics for analyzing deviation between GPS/BDS differential systems can position for GPS/BDS dual system tight integrations and provide priori letter
Breath fixes success rate and positioning accuracy to improve fuzziness.
The above, the only specific implementation mode in the present invention, can also make certain improvements and modifications, these improvement
It is regarded as the scope of the present invention with retouching.
Claims (4)
1. bias property analysis method between a kind of GPS/BDS differential systems, which is characterized in that include the following steps：
Step 1, GPS reference satellites are selected, double difference model between double difference model and GPS/BDS systems in GPS system is built；
Step 2, BDS reference satellites are selected, parameter decorrelation is carried out；
Step 3, benchmark backtracking is carried out, restores the continuity of deviation fractional part between carrier difference system, after output reference backtracking
Differential system between deviation.
2. bias property analysis method between a kind of GPS/BDS differential systems according to claim 1, which is characterized in that step
Rapid 1 is specially：
Step 11, using zero base line, single differential mode type between building station：
In formula, s=1G,2G,…,mG, mGIndicate GPS satellite number,Single poor carrier observations between the station of expression GPS satellite s,Single poor station star is away from Δ dt indicates single poor reception machine clock correction between station, λ between indicating the station of GPS satellite sGIndicate GPS satellite wavelength,
ΔδGSingle poor carrier wave hardware delay between expression GPS satellite receiver end station,Single poor fuzziness between the station of expression GPS satellite s,Single difference measurements noise between the station of expression GPS satellite s,Single poor Pseudo-range Observations, Δ d between the station of expression GPS satellite sGTable
Show single poor pseudorange hardware delay between GPS satellite receiver end station,Single poor pseudo range measurement noise between the station of expression GPS satellite s；q
=1C,2C,…,nC, nCIndicate BDS satellite numbers,Single poor carrier observations between the station of expression BDS satellites q,Indicate BDS
Single poor station star is away from λ between the station of satellite qCIndicate BDS satellite wavelengths, Δ δCSingle poor carrier wave is hard between indicating BDS satellite receiver end station
Part postpones,Single poor fuzziness between the station of expression BDS satellites q,Single difference measurements noise between the station of expression BDS satellites q,Single poor Pseudo-range Observations, Δ d between the station of expression BDS satellites qCSingle poor pseudorange hardware prolongs between indicating BDS satellite receiver end station
Late,Single poor pseudo range measurement noise between the station of expression BDS satellites q；
Step 12, GPS reference satellites are selected, single differential mode type, establishes double difference model in GPS system between the station built according to step 11
And double difference model between GPS/BDS systems：
With GPS satellite 1GOn the basis of satellite, then formula (5) and formula (6) are double difference model in GPS system, and formula (7) is GPS/ with formula (8)
Double difference model between BDS systems：
In formula,Indicate double difference carrier observations in GPS system,Indicate GPS system in double difference station star away from,Indicate double difference fuzziness in GPS system,Indicate double difference carrier observations noise in GPS system,It indicates
Double difference Pseudo-range Observations in GPS system,Indicate double difference carrier observations noise in GPS system；Indicate GPS/BDS
Double difference carrier observations between system,Indicate GPS/BDS systems between double difference station star away from,Indicate GPS/BDS systems
Between double difference fuzziness,Single poor fuzziness between expression GPS reference satellites station,Indicate GPS/BDS
Deviation between carrier difference system,Double difference carrier observations noise between expression GPS/BDS systems,Indicate GPS/BDS
Double difference Pseudo-range Observations between system,Deviation between expression GPS/BDS pseudo range difference systems,It indicates
Double difference pseudorange observation noise between GPS/BDS systems.
3. bias property analysis method between a kind of GPS/BDS differential systems according to claim 2, which is characterized in that step
Rapid 2 are specially：
Step 21, BDS reference satellites are selected, by double difference fuzziness between GPS/BDS systems again ginseng：
Choose BDS satellites 1COn the basis of satellite, then according to step 12, double difference fuzziness is expressed as between GPS/BDS systems：
In formula,Single poor fuzziness between the station of expression BDS reference satellites,Indicate double difference fuzziness in BDS systems,Indicate double difference fuzziness between BDS reference satellites and the GPS/BDS systems of GPS reference satellites；
According to formula (9), formula (7) is expressed as：
ThenFor the shared parameter and linear correlation of all BDS satellites；
Step 22, merge and share parameter, by deviation between carrier difference system again ginseng, realize parameter decorrelation：
According to formula (10), double difference observational equation is expressed as between merging the GPS/BDS systems after sharing parameter：
In formula, deviation between the carrier difference system after ginsengization again
4. bias property analysis method between a kind of GPS/BDS differential systems according to claim 3, which is characterized in that step
Rapid 3 are specially：
Step 31, single poor fuzziness benchmark between additional GPS reference satellite initial virtuals station：
If single poor fuzziness initial value is 0 between GPS reference satellite phantom stations, i.e.,It indicates in initial epoch
t0GPS reference satellite phantom stations between single poor fuzziness, then t0Deviation between the carrier difference system of epochWith progress
Deviation between the carrier difference system of benchmark backtrackingRespectively：
Step 32, benchmark backtracking is carried out, the continuity of deviation fractional part between carrier difference system is restored：
Assuming that in t1Epoch GPS reference satellite becomes iG, then single poor fuzziness between the phantom station of this epochCarrier wave
Deviation between differential systemAnd carry out deviation between the carrier difference system of benchmark backtrackingRespectively：
Step 33, deviation between the differential system after output reference backtracking.
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