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1.
The error sources related to the laser rangefinder, GPS and INS are analyzed in details. Several coordinates systems used in airborne laser scanning are set up, and then the basic formula of system is given. This paper emphasizes on discussing the kinematic offset correction between GPS antenna phase center and laser fired point. And kinematic time delay influence on laser footprint position, the ranging errors, positioning errors, attitude errors and integration errors of the system are also explored. Finally, the result shows that the kinematic time delay can be neglected as compared with other error sources. The accuracy of the coordinates is not only influenced by the amplitude of the error, but also controlled by the operation parameters such as flight height, scanning angle amplitude and attitude magnitude of the platform. 相似文献
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影响机载激光扫描测高精度的系统误差分析 总被引：20，自引：1，他引：20
简要介绍了机载激光扫描测高技术的系统组成和发展现状，通过坐标转换技术建立起机载激光扫描对地定位的基本几何关系，并从这些几何关系出发，着重分析了动态偏心改正及动态时效误差对机载激光测高精度的影响，对不同的误差源如何影响定位结果的精度进行了讨论，最后给出模拟计算结果，得出了一些有益的结论。 相似文献
3.
机载三维成像仪航带拼接的误差处理研究 总被引：3，自引：0，他引：3
机载三维成像仪是集成了全球定位系统（GPS）、姿态测量装置、激光测距仪昨光谱成像仪的新一代航空遥感系统，它能直接得到的地学编码影像和数字地面模型（DTM），而无需地面控制点。利用图像上分布的具有三维坐标的激光点来纠正原始图像，并且生成DTM。该文首先分析了机载三维成像仪系统中各种传感器本身的误差和系统之间存在的误差，然后介绍了处理系统误差的方法－航带重叠区域灰度平均差值最小算法求解航带间的系统误差，同时还设计了一种变权方法来处理随机误差和拼接航带的地学编码图像。通过算例说明了处理算法的正确性。 相似文献
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Assessment of long-range kinematic GPS positioning errors by comparison with airborne laser altimetry and satellite altimetry 总被引：3，自引：0，他引：3
Long-range airborne laser altimetry and laser scanning (LIDAR) or airborne gravity surveys in, for example, polar or oceanic
areas require airborne kinematic GPS baselines of many hundreds of kilometers in length. In such instances, with the complications
of ionospheric biases, it can be a real challenge for traditional differential kinematic GPS software to obtain reasonable
solutions. In this paper, we will describe attempts to validate an implementation of the precise point positioning (PPP) technique
on an aircraft without the use of a local GPS reference station. We will compare PPP solutions with other conventional GPS
solutions, as well as with independent data by comparison of airborne laser data with “ground truth” heights. The comparisons
involve two flights: A July 5, 2003, airborne laser flight line across the North Atlantic from Iceland to Scotland, and a
May 24, 2004, flight in an area of the Arctic Ocean north of Greenland, near-coincident in time and space with the ICESat
satellite laser altimeter. Both of these flights were more than 800 km long. Comparisons between different GPS methods and
four different software packages do not suggest a clear preference for any one, with the heights generally showing decimeter-level
agreement. For the comparison with the independent ICESat- and LIDAR-derived “ground truth” of ocean or sea-ice heights, the
statistics of comparison show a typical fit of around 10 cm RMS in the North Atlantic, and 30 cm in the sea-ice region north
of Greenland. Part of the latter 30 cm error is likely due to errors in the airborne LIDAR measurement and calibration, as
well as errors in the “ground truth” ocean surfaces due to drifting sea-ice. Nevertheless, the potential of the PPP method
for generating 10 cm level kinematic height positioning over long baselines is illustrated. 相似文献
6.
适用于机载三维遥感的动态GPS定位技术及其数据处理 总被引：2，自引：0，他引：2
机载三维遥感采用动态ＧＰＳ定位技术提供遥感器的空中精确位置,能快速高效获得遥感地学编码图像和ＤＥＭ,雇地中国自行研制、具有独创性的机载三维遥感影像制图系统中的动态ＧＰＳ定位技术特点和要求进行了分析。论述了应用三维遥感的ＧＳＰ定位数据处理和算流程。法 相似文献
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从机载激光雷达系统误差的产生机制出发,分别对姿态角误差、DGPS误差、瞬时扫描角误差、激光测距误差对激光脚点定位精度的影响进行定量的分析,从理论上分析了机载激光雷达系统的定位精度。本文的结果对实际应用具有重要的参考价值。 相似文献
9.
考虑随机模型精化的精密GPS动态定位新方法 总被引：1，自引：0，他引：1
GPS动态定位要求建立函数模型和随机模型。函数模型描述的是观测值和待估参数之间的物理和几何关系，随机模型描述了GPS观测值的统计特征，并通过观测值的方差协方差给定了每个观测值对最后的定位结果的贡献。正确给定函数模型和随机模型对于GPS定位结果的估计和观测值的粗差探测均至关重要。由于有各种误差存在于伪距和载波相位观测值中，一般GPS动态定位模型均采用双差观测值来构建函数模型。有时候，仔细地使用单差观测值，较之双差观测值有更多的优点，给出了选用单差观测值的理由。但是单差观测值给函数模型带来了接收机钟差，如果直接使用单差观测方程，设计矩阵是奇异的。为了解决这个问题，将伪距观测值中接收机钟差项和接收机延迟项合并为一个新的未知参数。至于载波相位观测值，首先选定一个参考卫星，然后在观测方程的右端同时增加一正一负的参考卫星单差整周模糊度，将正项与接收机钟差项和接收机延迟项合并为一个新的未知参数，将负项和原观测方程中的单差整周模糊度项合并为双差整周模糊度，而参考卫星观测方程的模糊度项则为零，这样无须组建双差观测值，软件实现较容易，也可以直接使用LAMBDA法求整周模糊度，最终也解决了观测方程奇异的问题。准确理解观测值的统计特征是建立GPS随机模型的基础，长期以来GPS商业软件均采用简化模型。关于GPS随机模型的研究远没有函数模型那样受到广泛关注，静态GPS定位可以采用方差协方差分量估计等严密的方法，而动态定位无法承担方差协方差分量估计的计算负担。GPS观测值的信噪比(SNR)是GPS接收机观测过程中的副产品，影响SNR值的因素，如大气层、多路径、接收机内部电路等，也正好是GPS观测值的误差源，因此GPS观测值的方差与SNR存在一定的对应关系。利用这个对应关系来精化GPS随机模型。为了验证本文采用的函数模型的正确性和随机模型的有效性，我们对1999年的一次实测数据(包括零基线和短基线)进行了试算。与零基线的真值和GPSurvey 2．35处理的短基线静态结果比较，表明使用的函数模型是正确的。简化随机模型和精化随机模型处理的结果比较说明精化模型提高了基线处理的精度，同时说明了研究GPS随机模型精化的必要性。 相似文献
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Nowadays, GPS receivers are very reliable because of their good accuracy and precision; however, uncertainty is also inherent in geospatial data. Quality of GPS measurements can be influenced by atmospheric disturbances, multipathing, synchronization of clocks, satellite geometry, geographical features of the observed region, low broadcasting coverage, inadequate transmitting formats, or human or instrumental unknown errors. Assuming that the scenario and technical conditions that can influence the quality of GPS measurements are optimal, that functional and stochastic models that process the signals to a geodetic measurement are correct, and that all the GPS observables are taken in the same conditions, it is still possible to estimate the positional errors as the difference between the real coordinates and those measured by the GPS. In this paper, three spatial linear mixed models, one for each axis, are used for modelling real-time kinematic GPS accuracy and precision, of a multiple-reference-station network in dual-frequency with carrier phase measurements. Along the paper, the proposed models provide an estimate of the “accuracy” in terms of bias defined as the difference between real coordinates and measured coordinates after being processed and “precision” through the standard errors of the estimated differences. This is done using ten different transmitting formats. Mapping and quantifying these differences can be interesting for users and GPS professionals. The performance of these models is illustrated by mapping positional error estimates within the whole region of Navarre, Spain. Sampled data have been taken in 54 out of the 211 geodetic vertex points of this region. Maps show interesting error patterns depending on transmitting formats, the different axes, and the geographical characteristics of the region. Higher differences are found in regions with bad broadcasting coverage, due to the presence of mountains and high degree of humidity. 相似文献
11.
针对我国地区观测数据的实验定位结果精度问题,该文提出BDS/GPS非差误差改正数的实时动态定位方法,研究了BDS/GPS单参考站非差实时动态定位算法模型,流动站使用非差误差改正数,不需要进行双差观测值的组合。参考站将非差误差改正数传递给流动站,对流动站的观测值进行误差改正,可以直接固定流动站的模糊度。实验表明:在我国南方地区BDS精度要优于GPS,而在北方地区,BDS/GPS定位精度和GPS定位精度明显优于BDS。并且与单系统相比,组合系统的可视卫星数明显增加,改善了卫星空间几何分布结构,从而提高了导航定位的可用性和精度。 相似文献
12.
GPS Solutions - The tropospheric delay is one of the major error sources in precise point positioning (PPP), affecting the accuracy and precision of estimated coordinates and convergence time,... 相似文献
13.
设计了一种短基线情况下双差模糊度的实时解算方法,利用双频载波相位的两个长波组合φ-3,4和φ4,-5,通过坐标初始值约束和双频信号之间的相关关系,可快速求解模糊度,采用抗差自适应滤波来提高模糊度求解的可靠性及定位精度。该方法对监测点初始点位误差的要求可放宽至50cm,适合于变形幅度较大的动态监测系统。 相似文献
14.
粗差检测与抗差估计相结合的方法在动态相对定位中的应用 总被引：2，自引：0，他引：2
分析了粗差对GPS动态相对定位的影响,给出了相应的影响函数和抗差估计方法。建议采用粗差探测与抗差估计相结合的方法来处理GPS动态定位中的粗差问题。抗差估计中的等价权分别采用了IGG3方案和双因子等价权函数,对两种方案的效果进行比较和分析,并利用实测数据对所提方法的实际效果进行了检验。结果表明,基于粗差探测和抗差估计相结合的粗差处理方法可有效控制和抵御粗差的影响;分别采用IGG3方案和双因子等价权函数的定位结果差异较小。 相似文献
15.
An algorithm for very accurate absolute positioning through Global Positioning System (GPS) satellite clock estimation has
been developed. Using International GPS Service (IGS) precise orbits and measurements, GPS clock errors were estimated at
30-s intervals. Compared to values determined by the Jet Propulsion Laboratory, the agreement was at the level of about 0.1 ns
(3 cm). The clock error estimates were then applied to an absolute positioning algorithm in both static and kinematic modes.
For the static case, an IGS station was selected and the coordinates were estimated every 30 s. The estimated absolute position
coordinates and the known values had a mean difference of up to 18 cm with standard deviation less than 2 cm. For the kinematic
case, data obtained every second from a GPS buoy were tested and the result from the absolute positioning was compared to
a differential GPS (DGPS) solution. The mean differences between the coordinates estimated by the two methods are less than
40 cm and the standard deviations are less than 25 cm. It was verified that this poorer standard deviation on 1-s position
results is due to the clock error interpolation from 30-s estimates with Selective Availability (SA). After SA was turned
off, higher-rate clock error estimates (such as 1 s) could be obtained by a simple interpolation with negligible corruption.
Therefore, the proposed absolute positioning technique can be used to within a few centimeters' precision at any rate by estimating
30-s satellite clock errors and interpolating them.
Received: 16 May 2000 / Accepted: 23 October 2000 相似文献
16.
抗差卡尔曼滤波在GPS动态定位中的应用 总被引：2，自引：0，他引：2
基于Kalman滤波的GPS动态定位中，动态观测量及其相应的动态模型可能存在异常，若数据处理不考虑对这些异常的特别处理，则模糊度的估值及其所提供的动态信息将极不可靠，按抗差估计原理，文中构造了状态向量和观测值对模糊度的影响函数，并由此建立了动态GPS定位的抗差Kalman滤波解法，实际计算验证了该方法的实用性和可靠性。 相似文献
17.
Investigating the propagation mechanism of unmodelled systematic errors on coordinate time series estimated using least squares 总被引：6，自引：8，他引：6
The propagation of unmodelled systematic errors into coordinate time series computed using least squares is investigated,
to improve the understanding of unexplained signals and apparent noise in geodetic (especially GPS) coordinate time series.
Such coordinate time series are invariably based on a functional model linearised using only zero and first-order terms of
a (Taylor) series expansion about the approximate coordinates of the unknown point. The effect of such truncation errors is
investigated through the derivation of a generalised systematic error model for the simple case of range observations from
a single known reference point to a point which is assumed to be at rest by the least squares model but is in fact in motion.
The systematic error function for a one pseudo-satellite two-dimensional case, designed to be as simple but as analogous to
GPS positioning as possible, is quantified. It is shown that the combination of a moving reference point and unmodelled periodic
displacement at the unknown point of interest, due to ocean tide loading, for example, results in an output coordinate time
series containing many periodic terms when only zero and first-order expansion terms are used in the linearisation of the
functional model. The amplitude, phase and period of these terms is dependent on the input amplitude, the locations of the
unknown point and reference point, and the period of the reference point's motion. The dominant output signals that arise
due to truncation errors match those found in coordinate time series obtained from both simulated data and real three-dimensional
GPS data. 相似文献
18.
在机场抢修抢建中,对测量系统的作业时间、定位精度、可靠性具有较高的要求,本文提出了一种新型高精度IMU/TS组合定位导航方法,引入激光跟踪定位/惯性组合导航理念,分析了系统组成以及各传感器的误差项,将系统时间延迟作为新的状态估计参数,采用卡尔曼滤波器将IMU和TS数据进行数据融合处理,并在车载动态应用条件下同IMU/GPS组合定位导航系统进行了实验数据比对,验证了在无GNSS信号环境下IMU/TS组合定位导航系统的位置测量精度。 相似文献
19.
This paper presents a data processing strategy for GPS kinematic Positioning by using a GPS active network to model the GPS errors in double difference observable.Firstly,the double difference residuals are estimated between the reference stations in the active network.Then the errors at a user station are predicted as the network corrctions to user measurements,based on the location of the user,Finally conventional kinematic positioning algorithms can be applied to determine the position of the user station.As an example,continuous 24-hour GPS data in March 2001 has been processed by this method.It clearly demonstrates that,after applying these corrections to a user within the network,both the success rate for ambiguity resolution and the positioning accuracy have been significantly improved. 相似文献
20.
A dual-rate Kalman Filter (DRKF) has been developed to integrate the time-differenced GPS carrier phases and the GPS pseudoranges with INS measurements. The time-differenced GPS carrier phases, which have low noise and millimeter measurement precision, are integrated with INS measurements using a Kalman Filter with high update rates to improve the performance of the integrated system. Since the time-differenced GPS carrier phases are only relative measurements, when integrated with INS, the position error of the integrated system will accumulate over time. Therefore, the GPS pseudoranges are also incorporated into the integrated system using a Kalman Filter with a low update rate to control the accumulation of system errors. Experimental tests have shown that this design, compared to a conventional design using a single Kalman Filter, reduces the coasting error by two-thirds for a medium coasting time of 30?s, and the position, velocity, and attitude errors by at least one-half for a 45-min field navigation experiment. 相似文献