伪卫星和多系统GNSS融合定位方法研究

论文总字数：40743字

摘 要

随着经济全球化的快速发展，人们对获得高精度、实时、准确的定位服务的需求不断增加。而在隧道、城市峡谷等特殊环境下，GNSS无法提供精确的定位服务，GNSS/伪卫星融合定位成为卫星导航发展的趋势，综合利用GNSS和伪卫星定位技术这两种导航系统的资源，实现优势互补，获得精确、实时、抗干扰的定位信息，满足人们的定位需求，还有助于实现室内外导航系统服务的无缝衔接。

本文主要对GNSS中的GPS、BDS伪距单点定位关键问题进行研究，研究内容包括：电离层延迟改正、对流层延迟改正、GPS/BDS组合伪距单点定位模型；另外还分析研究了伪卫星定位解算中的线性化误差和GNSS/伪卫星融合定位数学模型。

（1）对比了单频电离层模型法、双频改正法的伪距单点定位效果，实验证明双频改正法的定位效果优于单频模型法，定位精度最高提升54%左右，定位的稳定性增强。

（2）实验验证了GPS/BDS组合定位在定位精度方面优于单个系统定位，相比于单GPS系统，定位精度提升了20%左右。

（3）伪卫星定位实验验证了线性化误差受伪卫星和接收机之间的距离与接收机坐标的误差影响，伪卫星与接收机之间的距离越小，线性化误差越大；接收机坐标的误差越大，线性化误差越大；使用UKF算法可以避免线性化误差，提高定位的精度。

关键词：GNSS，伪距单点定位 ，伪卫星，线性化误差，数学模型

Abstract

With the rapid development of economic globalization, people's demand for high-precision, real-time and accurate positioning services is increasing. In special environments such as tunnels and urban canyons, GNSS cannot provide accurate positioning services. GNSS/pseudo-satellite fusion positioning has become the trend of satellite navigation development, and the resources of two navigation systems, GNSS and pseudo-satellite positioning technology, are utilized to realize advantages. Complementary, obtain accurate, real-time, anti-interference positioning information to meet people's positioning needs, and also help to achieve seamless integration of indoor and outdoor navigation system services.

This paper mainly studies the key issues of single point positioning of GPS and BDS pseudorange in GNSS. The research contents include: ionospheric delay correction, tropospheric delay correction, GPS/BDS combined pseudorange single point positioning model; Linearization error in pseudo-satellite positioning and mathematical model of GNSS/pseudo-satellite fusion localization.

(1) Comparing the single-frequency ionospheric model method and the pseudo-frequency single-point positioning effect of the dual-frequency correction method, the experiment proves that the positioning effect of the dual-frequency correction method is better than the single-frequency model method, the positioning accuracy is improved by about 54%, and improve the positioning stability.

(2)Experiments show that GPS / BDS combined positioning is better than single system positioning in terms of positioning accuracy. Positioning accuracy is increased by approximately 20% compared to a single GPS system.

(3) Pseudo-satellite positioning experiments verify that the linearization error is affected by the error between the pseudolite and the receiver and the receiver coordinates. The smaller the distance between the pseudolite and the receiver, the larger the linearization error; the receiver The larger the error of the coordinate, the larger the linearization error; The UKF algorithm can avoid linearization errors and improve positioning accuracy.

KEY WORDS: GNSS, Pseudorange single point positioning, Pseudo satellite, linearization error, mathematical model

目 录

摘 要 II

Abstract III

第一章 绪论 1

1.1 研究背景和意义 1

1.2全球导航卫星系统概述 1

1.2.1全球卫星定位系统GPS 1

1.2.2 北斗卫星导航系统 2

1.3 伪卫星概述 2

1.4 国内外研究现状 3

1.4.1 国外研究现状 3

1.4.2 国内研究现状 3

1.5论文的主要研究内容和结构 4

第二章 卫星和伪卫星定位误差来源 5

2.1 卫星定位误差来源 5

2.1.1 与卫星相关的误差及其改正措施 5

2.1.2 与信号传播相关的误差及其改正措施 6

2.1.3 与接收机有关的误差及其改正措施 8

2.1.4 其它误差及其改正措施 8

2.2 伪卫星定位误差来源 8

2.2.1 远近效应 8

2.2.2 时间同步 9

2.2.3 多路径效应 9

2.2.4 线性化误差 9

2.3 本章小结 9

第三章 GNSS和伪卫星定位原理及数学模型 10

3.1 GNSS定位 10

3.1.1 计算GPS、BDS的卫星位置 10

3.1.2 伪距单点定位 11

3.2 伪卫星定位 14

3.2.1 伪卫星定位模型 14

3.2.2 伪卫星非线性计算 15

3.3 GNSS/伪卫星融合定位 17

3.3.1时空基准 17

3.3.2 GNSS/伪卫星组合导航数学模型 19

3.3.3 GNSS/伪卫星融合定位解算 20

3.4本章小结 22

第四章 实验及结果分析 23

4.1 GNSS定位实验及结果分析 23

4.1.1 选取IGS站的站点分布图 23

4.1.2伪距单点定位实验验证及结果分析 23

4.2 伪卫星定位实验及结果分析 34

4.3 本章小结 39

第五章 总结与展望 41

5.1 主要工作与结论 41

5.2 研究展望 41

参考文献 43

致 谢 45

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