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1.
Resolution of GPS carrier-phase ambiguities in Precise Point Positioning (PPP) with daily observations 总被引：64，自引：30，他引：34
Precise Point Positioning (PPP) has been demonstrated to be a powerful tool in geodetic and geodynamic applications. Although
its accuracy is almost comparable with network solutions, the east component of the PPP results is still to be improved by
integer ambiguity fixing, which is, up to now, prevented by the presence of the uncalibrated phase delays (UPD) originating
in the receivers and satellites. In this paper, it is shown that UPDs are rather stable in time and space, and can be estimated
with high accuracy and reliability through a statistical analysis of the ambiguities estimated from a reference network. An
approach is implemented to estimate the fractional parts of the single-difference (SD) UPDs between satellites in wide- and
narrow-lane from a global reference network. By applying the obtained SD-UPDs as corrections to the SD-ambiguities at a single
station, the corrected SD-ambiguities have a naturally integer feature and can therefore be fixed to integer values as usually
done for the double-difference ones in the network mode. With data collected at 450 stations of the International GNSS Service
(IGS) through days 106 to 119 in 2006, the efficiency of the presented ambiguity-fixing strategy is validated using IGS Final
products. On average, more than 80% of the independent ambiguities could be fixed reliably, which leads to an improvement
of about 27% in the repeatability and 30% in the agreement with the IGS weekly solutions for the east component of station
coordinates, compared with the real-valued solutions.
An erratum to this article can be found at 相似文献
2.
The least-squares ambiguity decorrelation adjustment: its performance on short GPS baselines and short observation spans 总被引：9，自引：2，他引：9
The least-squares ambiguity decorrelation adjustment is a method for fast GPS double-difference (DD) integer ambiguity estimation.
The performance of the method will be discussed, and although it is stressed that the method is generally applicable, attention
is restricted to short-baseline applications in the present contribution. With reference to the size and shape of the ambiguity
search space, the volume of the search space will be introduced as a measure for the number of candidate grid points, and
the signature of the spectrum of conditional variances will be used to identify the difficulty one has in computing the integer
DD ambiguities. It is shown that the search for the integer least-squares ambiguities performs poorly when it takes place
in the space of original DD ambiguities. This poor performance is explained by means of the discontinuity in the spectrum
of conditional variances. It is shown that through a decorrelation of the ambiguities, transformed ambiguities are obtained
which generally have a flat and lower spectrum, thereby enabling a fast and efficient search. It is also shown how the high
precision and low correlation of the transformed ambiguities can be used to scale the search space so as to avoid an abundance
of unnecessary candidate grid points. Numerical results are presented on the spectra of conditional variances and on the statistics
of both the original and transformed ambiguities. Apart from presenting numerical results which can typically be achieved,
the contribution also emphasizes and explains the impact on the method's performance of different measurement scenarios, such
as satellite redundancy, single vs dual-frequency data, the inclusion of code data and the length of the observation time
span.
Received: 31 October 1995 / Accepted: 21 March 1997 相似文献
3.
卫星钟差解算及其星间单差模糊度固定 总被引：1，自引：0，他引：1
整数相位模糊度解算可以显著提高GNSS精密单点定位（PPP）的精度。本文提出一种解算卫星钟差的方法,通过固定星间单差模糊度恢复出能够支持单台接收机进行整数模糊度解算的卫星钟差,即所谓的“整数”钟差。为了实现星间单差模糊度固定,分别通过卫星端宽巷FCB解算和模糊度基准的选择与固定恢复出宽巷和窄巷模糊度的整数性质。为了证明本文方法的可行性,采用IGS测站的GPS数据进行卫星钟差解算试验。结果表明,在解算钟差时,星间单差模糊度固定的平均成功率为73%。得到的卫星钟差与IGS最终钟差产品相比,平均的RMS和STD分别为0.170和0.012 ns。448个IGS测站的星间单差宽巷和窄巷模糊度小数部分的分布表明本文得到的卫星钟差和FCB产品具备支持PPP用户进行模糊度固定的能力。基于以上产品开展了模拟动态PPP定位试验,结果表明模糊度固定之后,N、E、U和3D的定位精度（RMS）分别达到0.009、0.010、0.023和0.027 m,与不固定模糊度或采用IGS钟差的结果相比,分别提高了30.8%、61.5%、23.3%和37.2%。 相似文献
4.
基于区域参考站网的网络实时动态定位(real-time kinematic,RTK)方法是实现全球定位系统(global positioning system,GPS)、北斗卫星导航系统(BeiDou satellite navigation system,BDS)高精度定位的主要手段。研究了一种长距离GPS/BDS双系统网络RTK方法,首先采用长距离参考站网GPS/BDS多频观测数据确定宽巷整周模糊度,利用引入大气误差参数的参数估计模型解算GPS/BDS双差载波相位整周模糊度;然后按照长距离参考站网观测误差特性的不同,分类处理参考站观测误差,利用误差内插法计算流动站观测误差,以改正流动站GPS/BDS双系统载波相位观测值的观测误差;最后使用流动站多频载波相位整周模糊度解算方法确定GPS/BDS载波相位整周模糊度并解算位置参数。使用长距离连续运行参考站(continuously operating reference stations,CORS)网的实测数据进行实验,结果表明,该方法能够利用长距离GPS/BDS参考站网实现流动站的厘米级定位。 相似文献
5.
The least-squares ambiguity decorrelation adjustment: a method for fast GPS integer ambiguity estimation 总被引：71，自引：26，他引：71
P. J. G. Teunissen 《Journal of Geodesy》1995,70(1-2):65-82
The GPS double difference carrier phase measurements are ambiguous by an unknown integer number of cycles. High precision relative GPS positioning based on short observational timespan data, is possible, when reliable estimates of the integer double difference ambiguities can be determined in an efficient manner. In this contribution a new method is introduced that enables very fast integer least-squares estimation of the ambiguities. The method makes use of an ambiguity transformation that allows one to reformulate the original ambiguity estimation problem as a new problem that is much easier to solve. The transformation aims at decorrelating the least-squares ambiguities and is based on an integer approximation of the conditional least-squares transformation. This least-squares ambiguity decorrelation approach, flattens the typical discontinuity in the GPS-spectrum of ambiguity conditional variances and returns new ambiguities that show a dramatic improvement in correlation and precision. As a result, the search for the transformed integer least-squares ambiguities can be performed in a highly efficient manner. 相似文献
6.
长距离网络RTK是实现GPS/BDS高精度实时定位的主要手段之一,其核心是长距离参考站网GPS/BDS整周模糊度的快速准确确定。本文提出了一种长距离GPS/BDS参考站网载波相位整周模糊度解算方法,首先利用GPS双频观测数据计算和确定宽巷整周模糊度,同时利用BDS的B2、B3频率观测值确定超宽巷整周模糊度。然后建立GPS载波相位整周模糊度和大气延迟误差的参数估计模型,附加双差宽巷整周模糊度的约束,解算双差载波相位整周模糊度,并建立参考站网大气延迟误差的空间相关模型。根据B2、B3频率的超宽巷整周模糊度建立包含大气误差参数的载波相位整周模糊度解算模型,利用大气延迟误差空间相关模型约束BDS双差载波相位整周模糊度的解算。克服了传统的使用无电离层组合值解算整周模糊度的不利影响。采用实测长距离CORS网GPS、BDS多频观测数据进行算法验证,试验结果证明该方法可实现长距离参考站网GPS/BDS载波相位整周模糊度的准确固定。 相似文献
7.
一般卫星导航接收机的伪距测量误差大于宽巷波长。根据宽巷引导模型,直接使用双差伪距取整固定双差宽巷整周模糊度有很大概率会产生一周固定错误。基于此,提出了一种改进的宽巷引导整周模糊度固定算法,针对宽巷整周模糊度一周固定错误进行探测和修复。利用整周模糊度为整数的特质构造理论探测量,并将该探测量与载噪比所确定的门限相比较,判断是否出现宽巷整周模糊度一周固定错误;利用双差整周模糊度自由度为3的特点,修复错误宽巷整周模糊度。对该算法在高斯噪声条件下的可行性进行了理论分析,结果表明正常载噪比的观测数据均可分辨出一周宽巷整周模糊度的估计错误。同时,分析了考虑多径等误差后该算法所能接受的载波相位最大误差。计算了不同伪距误差下宽巷整周模糊度一周固定错误出现的概率。使用GPS实测短基线数据对算法进行验证,该算法可将基于宽巷引导的整周模糊度固定算法的固定率从原来的只有不到1/3提升至接近100%。 相似文献
8.
It is a known fact that obtaining accurate GPS carrier-phase measurements involves fixed, unknown whole-cycle ambiguity parameters.
As the use of cosine functions to eliminate any double-difference integer ambiguities causes spatial ambiguity problems, both
reasonably approximated positions and wavelength-dependent convergence ranges are of the utmost importance. Differential GPS-based
position solutions are first smoothed to create a polynomial trajectory, leading to less variable position approximations.
Long-wavelength wide-lane phase combinations will then be utilized to facilitate convergent GPS positioning, on a stage-by-stage
basis. Although double-difference ionospheric path delays are often interpreted as nuisance parameters, they can be obtained
when the respective cosines of the original L1 and L2 carrier phases undergo a simultaneous least-squares estimation. In particular,
quadratic forms of the estimated phase residuals will be linked with hypothesis testing to allow for a meaningful statistical
inference. Some low-dynamics experiments are then performed to prove the feasibility of the proposed hierarchical positioning
concept.
Electronic Publication 相似文献
9.
This paper presents a new strategy for GPS carrier phase data processing. The classic approach generally consists of three steps: a float solution, a search for integer ambiguities, and a fixed solution. The new approach is based on certain properties of ambiguity function method and ensures the condition of integer ambiguities without the necessity of the additional step of the integer search. The ambiguities are not computed explicitly, although the condition of “integerness” of the ambiguities is ensured in the results through the least squares adjustment with condition equations in the functional model. An appropriate function for the condition equations is proposed and presented. The presented methodology, modified ambiguity function approach, currently uses a cascade adjustment with successive linear combinations of L1 and L2 carrier phase observations to ensure a correct solution. This paper presents the new methodology and compares it to the three-stage classic approach which includes ambiguity search. A numerical example is provided for 25 km baseline surveyed with dual-frequency receivers. All tests were performed using an in-house developed GINPOS software and it has been shown that the positioning results from both approaches are equivalent. It has also been proved that the new approach is robust to adverse effects of cycle slips. In our opinion, the proposed approach may be successfully used for carrier phase GPS data processing in geodetic applications. 相似文献
10.
GNSS大网双差模型并行快速解算方法 总被引：1，自引：1，他引：0
针对GNSS大网数据采用双差模型解算时存在时效性差的问题,提出了一种改进的独立双差观测值构建与独立基线并行解算的方法,采用并行技术实现多核并行与网络多节点并行的双层自动快速解算策略。通过对约375个IGS站1周的观测数据进行处理,改进的独立双差观测值选取方法比传统路径最短方法所选的单天全网独立双差数据平均多了53万个,E、N、U方向坐标重复性平均提升了14.0%、12.9%和29.2%。采用不同解算策略的计算结果表明,4台普通计算机的并行计算比传统串行方案的计算效率提升了14倍左右,如375个测站采用改进观测值构建方法的4节点并行方案仅需要35.62min,显著提高了整网双差的解算效率。 相似文献
11.
Increasing GNSS RTK availability with a new single-epoch batch partial ambiguity resolution algorithm 总被引：7，自引：4，他引：3
Alex Parkins 《GPS Solutions》2011,15(4):391-402
GPS Single-epoch Real-Time Kinematic positioning is immune to cycle slips and can be immediately re-initialized after loss-of-lock,
providing high availability. This technique requires reliable ambiguity resolution: incorrect ambiguities can cause position
errors of several meters, and failed ambiguity resolution reduces availability. However, a bias or inaccuracy in a single
phase observation can prevent successful resolution of the whole set of ambiguities. Partial ambiguity resolution allows a
subset of ambiguities to be resolved with greater probability of success than the full set. A new algorithm for resolving
a subset of ambiguities with validation from previous epochs is described. If normal ambiguity resolution fails, all ambiguity
subsets are generated and ordered with the best subsets first. Each subset is then resolved in turn. Fixed subsets are validated
against values from previous epochs; this validation procedure greatly reduces the proportion of epochs with incorrect ambiguities.
An additional algorithm is described that uses the fixed ambiguities as precise ranges to resolve the remaining unfixed ambiguities.
In order to test these new algorithms, GPS data were collected from static and ship-based GPS receivers around Harwich harbor
and processed from reference stations at distances up to 111 km. In the static tests the distance over which a 90% ambiguity
resolution success rate for dual-frequency data was achieved was increased from 15 to 76 km. However, in some cases, the processing
time was too long for this algorithm to be practical without a time-based cut-off. There is also a risk of incorrect ambiguities
being propagated, particularly for single-frequency processing. In a ship-based test, the distance over which sufficient availability
to support harbor navigation was achieved using single-epoch dual-frequency RTK was increased from 1 to 66 km. 相似文献
12.
Single-Epoch Ambiguity Resolution for Real-Time GPS Attitude Determination with the Aid of One-Dimensional Optical Fiber Gyro 总被引：9，自引：0，他引：9
High-accuracy real-time GPS-based attitude determination requires that integer ambiguities be resolved very quickly so that
the attitude angles can be output with minimum delay. This article describes an attitude determination algorithm that can
resolve integer ambiguities instantaneously, relative to one antenna of a multi-antenna array configuration. The carrier phase
and pseudorange observations are used with fixed baseline length constraints and fiberoptic gyro data. Real-time stochastic
model improvement using empirical elevation-dependent standard deviation function and an estimated scale factor are a feature
of this algorithm. Integer ambiguity search using the LAMBDA method, sophisticated validation criteria, and an adaptive procedure
has also been implemented within the software. An experiment was carried out using four Leica dual-frequency GPS receivers
(but only the L1 carrier phase and pseudorange data were used) and a low-cost fiberoptic on a car. The results indicate that
integer ambiguities can be resolved on a single-epoch basis with a 98.9% success rate. ? 1999 John Wiley & Sons, Inc. 相似文献
13.
在对GPS／GLONASS组合定位的周跳探测和修复方法进行深入研究的基础上，论述了适合于两种数据联合解算的GPS／GLONASS模糊度迭代处理方法及相应的基于FARA方法的整周模糊度固定方法。在现有BERNESE Ver4.0GSP数据处理软件的基础上，增加及改进了其中的若干模块，从而研制出组合定位系统高精度数据处理软件，并进行了试验计算。结果表明，所开发的组合定位系统数据处理软件内、外符合精度均达到mm级，证明了这种高精度相对定位理论、方法、软件的正确性和可行性。 相似文献
14.
随着测站和卫星数量的不断增加,大规模GNSS网的数据处理面临越来越大的挑战。将载波相位观测量转化为载波伪距是提高大规模GNSS网数据处理效率的有效方法。本文提出在精密单点定位基础上进行星间单差模糊度固定生成载波伪距的方法。采用中国大陆构造环境监测网络（陆态网）观测数据进行了验证。结果表明,对于包含252个测站的观测网,采用载波伪距进行整网解的处理时间不超过20 min。剔除异常测站后,240个陆态网测站的月坐标重复精度在N、E和U方向的均值分别为0.74、0.85和2.53 mm,略优于原始数据整网解的结果。本文还探讨了采用原始数据和载波伪距进行整网解的关系,利用带约束条件的观测模型对不同方法生成的载波伪距应用于整网解的原理进行统一解释,并指出了载波伪距整网解与原始数据整网解的理论等效性。 相似文献
15.
提出一种用于整周模糊度OTF求解的整数白化滤波改进算法。该算法首先对整周模糊度的协方差矩阵进行整数白化滤波处理 ,以降低整周模糊度间的相关性 ,然后构造搜索空间来判定是否需要进行搜索。如果需要 ,则通过搜索来确定变换后的整周模糊度 ;如果不需要 ,则通过直接取整来确定整周模糊度 ,进而得到原始的整周模糊度和基线分量的固定解。初步试验结果显示 ,采用改进方法解算整周模糊度可以提高成功率和解算效率 相似文献
16.
单频GPS快速定位中病态问题的解法研究 总被引：20，自引：3，他引：17
研究只利用少数历元GPS载波相位观测值进行快速定位时的新解法.在分析病态法矩阵结构特性的基础上,基于TIKHONOV正则化原理,提出一种选择正则化矩阵R的新方法,减弱法方程的病态性.与其他方法相比,新方法得到与模糊度准确值更接近的浮动解及其相应的均方误差矩阵.结合LAMBDA方法,用均方误差矩阵代替协方差阵确定模糊度的搜索范围,可准确快速地确定模糊度,最后得到基线向量的解.结合算例,将新解法与最小二乘估计、岭估计和截断奇异值法分别结合LAMBDA方法解算模糊度的结果进行比较分析,展示新解法的效果. 相似文献
17.
Assessment of correct fixing rate for precise point positioning ambiguity resolution on a global scale 总被引：3，自引：1，他引：2
Ambiguity resolution (AR) for a single receiver has been a popular topic in Global Positioning System (GPS) recently. Ambiguity-resolution methods for precise point positioning (PPP) have been well documented in recent years, demonstrating that it can improve the accuracy of PPP. However, users are often concerned about the reliability of ambiguity-fixed PPP solution in practical applications. If ambiguities are fixed to wrong integers, large errors would be introduced into position estimates. In this paper, we aim to assess the correct fixing rate (CFR), i.e., number of ambiguities correctly fixing to the total number of ambiguities correctly and incorrectly fixing, for PPP user ambiguity resolution on a global scale. A practical procedure is presented to evaluate the CFR of PPP user ambiguity resolution. GPS data of the first 3 days in each month of 2010 from about 390 IGS stations are used for experiments. Firstly, we use GPS data collected from about 320 IGS stations to estimate global single-differenced (SD) wide-lane and narrow-lane satellite uncalibrated phase delays (UPDs). The quality of UPDs is evaluated. We found that wide-lane UPD estimates have a rather small standard deviation (Std) between 0.003 and 0.004 cycles while most of Std of narrow-lane estimates are from 0.01 to 0.02 cycles. Secondly, many experiments have been conducted to investigate the CFR of integer ambiguity resolution we can achieve under different conditions, including reference station density, observation session length and the ionospheric activity. The results show that the CFR of PPP can exceed 98.0 % with only 1 h of observations for most user stations. No obvious correlation between the CFR and the reference station density is found. Therefore, nearly homogeneous CFR can be achieved in PPP AR for global users. At user end, higher CFR could be achieved with longer observations. The average CFR for 30-min, 1-h, 2-h and 4-h observation is 92.3, 98.2, 99.5 and 99.7 %, respectively. In order to get acceptable CFR, 1 h is a recommended minimum observation time. Furthermore, the CFR of PPP can be affected by diurnal variation and geomagnetic latitude variation in the ionosphere. During one day at the hours when rapid ionospheric variations occur or in low geomagnetic latitude regions where equatorial electron density irregularities are produced relatively frequently, a significant degradation of the CFR is demonstrated. 相似文献
18.
基于整周模糊度概率特性的有效性检验 总被引：1，自引：0，他引：1
准确确定载波相位整周模糊度是快速高精度GPS定位的关键,已有的检验GPS整周模糊度有效性的方法几乎均是基于其为非随机常量建立的,因而都存在一定的缺陷。本文在研究整周模糊度概率特性的基础上,提出一种基于LABMBAD算法的整周模糊度概率分布函数的检验方法。实际演算表明该方法简单有效,统计概念明确。 相似文献
19.
Quality assessment of GPS rapid static positioning with weighted ionospheric parameters in generalized least squares 总被引：3，自引：2，他引：1
Pawel Wielgosz 《GPS Solutions》2011,15(2):89-99
Precise GPS positioning requires the processing of carrier-phase observations and fixing integer ambiguities. With increasing
distance between receivers, ambiguity fixing becomes more difficult because ionospheric and tropospheric effects do not cancel
sufficiently in double differencing. A popular procedure in static positioning is to increase the length of the observing
session and/or to apply atmospheric (ionospheric) models and corrections. We investigate the methodology for GPS rapid static
positioning that requires just a few minutes of dual-frequency GPS observations for medium-length baselines. Ionospheric corrections
are not required, but the ionospheric delays are treated as pseudo-observations having a priori values and respective weights.
The tropospheric delays are reduced by using well-established troposphere models, and satellite orbital and clock errors are
eliminated by using IGS rapid products. Several numerical tests based on actual GPS data are presented. It is shown that the
proposed methodology is suitable for rapid static positioning within 50–70 km from the closest reference network station and
that centimeter-level precision in positioning is feasible when using just 1 min of dual-frequency GPS data. 相似文献
20.
Due to the different signal frequencies for the GLONASS satellites, the commonly-used double-differencing procedure for carrier phase data processing can not be implemented in its straightforward form, as in the case of GPS. In this paper a novel data processing strategy, involving a three-step procedure, for integrated GPS/GLONASS positioning is proposed. The first is pseudo-range-based positioning, that uses double-differenced (DD) GPS pseudo-range and single-differenced (SD) GLONASS pseudo-range measurements to derive the initial position and receiver clock bias. The second is forming DD measurements (expressed in cycles) in order to estimate the ambiguities, by using the receiver clock bias estimated in the above step. The third is to form DD measurements (expressed in metric units) with the unknown SD integer ambiguity for the GLONASS reference satellite as the only parameter (which is constant before a cycle slip occurs for this satellite). A real-time stochastic model estimated by residual series over previous epochs is proposed for integrated GPS/GLONASS carrier phase and pseudo-range data processing. Other associated issues, such as cycle slip detection, validation criteria and adaptive procedure(s) for ambiguity resolution, is also discussed. The performance of this data processing strategy will be demonstrated through case study examples of rapid static positioning and kinematic positioning. From four experiments carried out to date, the results indicate that rapid static positioning requires 1 minute of single frequency GPS/GLONASS data for 100% positioning success rate. The single epoch positioning solution for kinematic positioning can achieve 94.6% success rate over short baselines (<6 km). 相似文献