GPS精密单点定位算法研究

论文总字数：27473字

摘 要

GPS精密单点定位技术是借助IGS等数据中心发布的可供用户使用的精密卫星星历和卫星时钟误差校正卫星轨道参数和卫星钟差，并在单台接收机的工作模式下，采集双频非差载波相位等观测数据，解算出精度较高的定位结果，以达到分米、厘米、甚至毫米级精度的定位技术。

本文的主要研究工作如下：

（1）简要介绍了GPS精密单点定位和卡尔曼滤波器的国内外研究现状和应用前景。

（2）深入研究了GPS精密单点定位的定位原理，包括非差观测方程的构造，构造消除电离层观测模型的方法，观测方程的线性化等几部分。

（3）分析了GPS观测模型中的主要误差来源以及修正模型，主要包括测站相关、卫星相关以及传播途径相关的三大类误差中的几种主要误差项。

（4）设计了适用于GPS精密单点定位的卡尔曼滤波器。在定位解算过程中，卡尔曼滤波器可以通过观测值不断更新状态值，并对噪声影响进行估计，使状态值不断接近真实值，最终获得精确的定位结果。

（5）本文在matlab环境下实现了精密单点定位算法的仿真，达到了分米级的定位精度，并对影响算法收敛速度的因素进行了研究。

综上，精密单点定位技术相比相对定位技术，成本更低使用更加便利，但定位误差必须通过建立模型进行修正。使用卡尔曼滤波器进行单点定位解算，可以利用伪距等观测值对定位信息等状态值不断更新，对钟差整周模糊度等未知参数进行估计，并有效削弱了噪声对定位结果的影响，是对精密单点定位解算的有效方法。

关键词：精密单点定位；精密星历；GPS定位误差；卡尔曼滤波；

Abstract

GPS precision single-point positioning technology is based on the precision satellite ephemeris and satellite clock error correction satellite orbit parameters and satellite clock errors released by users in data centers such as IGS, and the dual-frequency acquisition in the working mode of a single receiver. Observed data such as non-difference carrier phase, and solve the positioning result with high precision to achieve the positioning technology of decimeter, centimeter, or even millimeter precision.

The main research work of this paper is as follows:

(1) Briefly introduce the research status and application prospects of GPS precision single point positioning and Kalman filter at home and abroad

(2) In-depth study of the positioning principle of GPS precise single point positioning, including the construction of non-difference observation equations, the method of constructing the ionospheric observation model, and the linearization of the observation equation.

(3) Analyze the main error sources and correction models in the GPS observation model, including several main error items among the three types of errors related to station-related, satellite-related and propagation paths.

(4) A Kalman filter suitable for GPS precise single point positioning is designed. In the positioning solution process, the Kalman filter can continuously update the state value through the observation value, and estimate the noise influence, so that the state value is close to the real value, and finally obtain the accurate positioning result.

(5) In this paper, the simulation of precise single point positioning algorithm is realized in matlab environment, and the positioning accuracy of decimeter level is achieved, and the factors affecting the convergence speed of the algorithm are studied.

In summary, the precision single point positioning technology is more convenient and cheaper to use than the relative positioning technology, but the positioning error must be corrected by establishing a model. Using the Kalman filter for single-point positioning solution, it is possible to use the pseudo-distance and other observations to continuously update the state values such as positioning information, estimate the unknown parameters such as the clock-degree ambiguity, and effectively weaken the noise to the positioning result. Influence is an effective method for solving the precise single point positioning solution.

KEY WORDS: precise point positioning; precise ephemeris; GPS positioning error; Kalman filter;

目 录

摘要 ……………………………………………………………………………………………Ⅰ

Abstract …………………………………………………………………………………………Ⅱ

第一章 绪论 ……………………………………………………………………………………1

1.1 引言 …………………………………………………………………………………1

1.2 国内外研究现状 ……………………………………………………………………2

1.2.1精密单点定位研究现状 ……………………………………………………3

1.2.2卡尔曼滤波研究现状 ……………………………………………………3

1.3本文研究目的、意义以及主要内容 …………………………………………………4

第二章 GPS精密单点定位原理 ………………………………………………………5

2.1 引言 ………………………………………………………………………………5

2.2 精密单点定位模型 ……………………………………………………………5

2.2.1非差观测方程 ……………………………………………………………5

2.2.2消除电离层观测量 ………………………………………………………6

2.2.3观测方程线性化 …………………………………………………………7

2.3 主要误差和修正项 ………………………………………………………………8

2.3.1与测站有关的误差 …………………………………………………………8

2.3.2与卫星有关的误差 …………………………………………………………9

2.3.3与传播途径有关的误差 …………………………………………………10

2.4精密星历获取以及插值方法 ………………………………………………………12

2.4.1精密星历获取 ……………………………………………………………12

2.4.2精密星历插值 ……………………………………………………………13

2.5卡尔曼滤波 …………………………………………………………………………13

2.5.1线性离散系统方程 …………………………………………………………13

2.5.2滤波器初始化 ………………………………………………………………14

2.5.3滤波过程 ……………………………………………………………………15

2.6定位解算流程 ………………………………………………………………………16

第三章 软件实现与仿真结果 …………………………………………………………………17

3.1引言 …………………………………………………………………………………17

3.2软件流程 ……………………………………………………………………………18

3.3仿真结果 ……………………………………………………………………………19

3.3.1数据读取 ……………………………………………………………………20

3.3.2实验一 ………………………………………………………………………20

3.3.3实验二 ………………………………………………………………………22

3.3.4实验三 ………………………………………………………………………24

3.4小结 …………………………………………………………………………………26

第四章 结论与展望 ……………………………………………………………………………27

4.1本文研究结论 ………………………………………………………………………27

4.2未来的展望 …………………………………………………………………………27

参考文献（References） ……………………………………………………………………28

致谢 …………………………………………………………………………………………29

1. 绪论

1.1引言

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