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1.
Time-relative positioning is a recent method for processing GPS phase observations. The operational method undertaken in this
paper consists of the following steps: first, recording phase observations at a station of known coordinates; second, moving
the GPS receiver to an unknown station (which can be located up to a few hundred meters away, dependint on what type of transportation
– e. g., walking, motorcycle – is available) while continuously observing carrier phases; and, third, recording phase observations
at a second station of unknown coordinates with a single GPS receiver. To obtain the position of the unknown station relative
to the first (known) station, the processing method uses combined observations taken at two different epochs and two different
stations with the same receiver. For this reason, the errors that vary between two epochs must be taken into account in an
appropriate way, especially errors in satellite clock corrections and ephemerides, and errors related to tropospheric and
ionospheric delays. Ionospheric modeling using IONEX files (the ionospheric maps calculated by the International GPS Service)
was also tested to correct L1 phase observations. This method has been used to calculate short vectors with an accuracy of
a few centimeters (for a processing interval of 30 s) using a single civil GPS receiver. ? 2001 John Wiley & Sons, Inc. 相似文献
2.
A new approach for airborne vector gravimetry using GPS/INS 总被引：2，自引：2，他引：2
A new method for airborne vector gravimetry using GPS/INS has been developed and the results are presented. The new algorithm
uses kinematic accelerations as updates instead of positions or velocities, and all calculations are performed in the inertial
frame. Therefore, it is conceptually simpler, easier, more straightforward and computationally less expensive compared to
the traditional approach in which the complex navigation equations should be integrated. Moreover, it is a unified approach
for determining all three vector components, and no stochastic gravity modeling is required. This approach is based on analyzing
the residuals from the Kalman filter of sensor errors, and further processing with wavenumber coefficient filterings is applied
in case closely parallel tracks of data are available. An application to actual test-flight data is performed to test the
validity of the new algorithm. The results yield an accuracy in the down component of about 3–4 mGal. Also, comparable results
are obtained for the horizontal components with accuracies of about 6 mGal. The gravity modeling issue is discussed and alternative
methods are presented, none of which improves on the original approach.
Received: 18 April 2000 / Accepted: 14 August 2000 相似文献
3.
Accurate estimates of the velocity and acceleration of a platform are often needed in high dynamic positioning, airborne gravimetry,
and geophysics. In turn, differentiation of GPS signals is a crucial process for obtaining these estimates. It is important
in the measurement domain where, for example, the phase measurements are used along with their instantaneous derivative (Doppler)
to estimate position and velocity. It is also important in postprocessing, where acceleration is usually estimated by differentiating
estimates of position and velocity. Various methods of differentiating a signal can have very different effects on the resulting
derivative, and their suitability varies from situation to situation. These comments set the stage for the investigations
in this article. The objective is twofold: (1) to carry out a comprehensive study of possible differentiation methods, characterizing
each in the frequency domain; and (2) to use real data to demonstrate each of these methods in both of the measurement and
position domains, in conditions of variable, high, or unknown dynamics. Examples are given using real GPS data in both the
measurement domain and in the position and velocity domain. The appropriate differentiator is used in several cases of varying
dynamics to derive a Doppler signal from carrier phase measurements (rather than using the raw Doppler generated by the receiver).
In the statistic case, it is seen that the accuracy of velocity estimates can be improved from 4.0 mm/s to 0.7 mm/s by using
the correct filter. In conditions of medium dynamics experienced in an airborne gravity survey, it is demonstrated that accelerations
as the 2–4 mGal level (1 mGal = 0.00001 m/s2) can be obtained at the required filtering periods. Finally, a precision motion table is used to show that when using the
correct filter, velocity estimates under high dynamics can be improved by an order of magnitude to 27.0 mm/s. ? 1999 John
Wiley & Sons, Inc. 相似文献
4.
Airborne LaCoste &; Romberg gravimetry: a space domain approach 总被引：1，自引：0，他引：1
This paper introduces a new approach to reduce the airborne gravity data acquired by a LaCoste &; Romberg (L&;R) air/sea gravimeter, or other similar gravimeters. The acceleration exerted on the gravimeter is the sum of gravity and the vertical and Eötvös accelerations of the aircraft. The L&;R gravimeter outputs are: (1) the beam position, (2) the spring tension and (3) the cross coupling. Vertical and Eötvös accelerations are computed from GPS-derived aircraft positions. However, the vertical perturbing acceleration sensed by the gravimeter is not the same as the one sensed by the aircraft (via GPS). A determination of the aircraft-to-sensor transfer function is necessary. The second-order differential equation of the motion of the gravimeter’s beam mixes all the input and output parameters of the gravimeter. Conventionally, low-pass filtering in the frequency domain is used to extract the gravity signal, the filter being applied to each flight-line individually. By transforming the differential equation into an integral equation and by introducing related covariance matrices, we develop a new filtering method based on a least-squares approach that is able to take into account, in one stage, the data corresponding to all flight-lines. The a posteriori covariance matrix of the estimated gravity signal is an internal criterion of the precision of the method. As an example, we estimate the gravity values along the flight-lines from an airborne gravity survey over the Alps and introduce an a priori covariance matrix of the gravity disturbances from a global geopotential model. This matrix is used to regularize the ill-posed Fredholm integral equation introduced in this paper. 相似文献
5.
Markus Rothacher 《GPS Solutions》2001,4(4):55-60
Three major GPS antenna calibration methods are available toda: the relative field calibrations using the GPS data collected
on short baselines, the absolute field calibrations, where the GPS antenna is rotated and tilted by a robot, and calibration
measurements in an anechoic chamber. Mean antenna offsets and the elevation-dependent phase center variations of GPS antennas
determined by all three techniques are compared to assess their accuracy. The analysis of global GPS data with these sets
of calibration values reveals that the offsets and variations of the satellite antenna phase centers have to be considered,
too, to obtain a consistent picture. ? 2001 John Wiley & Sons, Inc. 相似文献
6.
Stochastic assessment of GPS carrier phase measurements for precise static relative positioning 总被引：17，自引：11，他引：17
Global positioning system (GPS) carrier phase measurements are used in all precise static relative positioning applications.
The GPS carrier phase measurements are generally processed using the least-squares method, for which both functional and stochastic
models need to be carefully defined. Whilst the functional model for precise GPS positioning is well documented in the literature,
realistic stochastic modelling for the GPS carrier phase measurements is still both a controversial topic and a difficult
task to accomplish in practice. The common practice of assuming that the raw GPS measurements are statistically independent
in space and time, and have the same accuracy, is certainly not realistic. Any mis-specification in the stochastic model will
inevitably lead to unreliable positioning results. A stochastic assessment procedure has been developed to take into account
the heteroscedastic, space- and time-correlated error structure of the GPS measurements. Test results indicate that the reliability
of the estimated positioning results is improved by applying the developed stochastic assessment procedure. In addition, the
quality of ambiguity resolution can be more realistically evaluated.
Received: 13 February 2001 / Accepted: 3 September 2001 相似文献
7.
The detection of cycle slips in carrier-phase data, outliers in phase rate or in code ranges, or any other type of disorder
in the measurements of the GPS system, is one of the major quality-control problems that needs to be addressed, especially
where GPS is used for real-time applications or for those applications that require continuous and reliable positioning results.
This study is concerned with designing algorithms to detect failures or changes of small magnitude, in order to monitor and
control the quality of GPS measurements for critical real-time and/or deformation applications. In this regard, the statistical
technique known as the cumulative-sum test is described for the detection of abrupt changes in the GPS carrier-phase measurements.
Real GPS data have been used to test and evaluate the algorithm.
Received: 27 August 1996 / Accepted: 26 February 1997 相似文献
8.
提出了一种基于历元间相位差分的GPS/BDS单机实时动态定位算法。该方法采用历元间载波相位差分数据准确计算出载体的位置变化量;并以此描述载体的运动状态变化,建立动态定位滤波模型的状态方程。同时以历元间载波相位差分数据与伪距数据作为主要观测值,采用扩展Kalman滤波实时估计载体的位置和钟差。采用自主编制的软件对静态与车载GPS/BDS实测数据进行处理,结果表明:采用该方法,定位结果精度优于传统的标准单点定位算法与载波相位平滑伪距算法;而且算法具有较好的稳定性,与载体的运动状态无关。 相似文献
9.
Dennis Odijk 《GPS Solutions》2001,5(2):29-42
Due to the maximum of the solar cycle, ionospheric activity increased considerably last year. At frequent times warning were
sent out announcing geomagnetic storms disturbing the ionospheric electron content. In this article the influence of such
geomagnetic storms on fast and precise GPS positioning (for surveying applications at midlatitude regions) is studied. And
here with “fast” it is aimed at the shortest observation time possible: carrier ambiguity resolution and position estimation
using only one single epoch of data. To apply this instantaneous data processing technique successfully to GPS baselines of
medium length (up to 50 km), additional ionospheric information is inevitable, not only under geomagnetic storm but also under
more quiet conditions. However, in this article it will be shown that under geomagnetic storm conditions, even for rather
short baselines (<10 km), for which the ionospheric delays under more quiet conditions could be neglected, one has to account
for significant relative ionospheric delays. Therefore an important facet of this contribution is the investigation of how
to process baselines of varying length in a more uniform way, making use of a permanent GPS network (if available in the surveying
area) and a stochastic modeling technique of the ionospheric delays. ? 2001 John Wiley & Sons, Inc. 相似文献
10.
Gravity recovery using COSMIC GPS data: application of orbital perturbation theory 总被引：14，自引：0，他引：14
C. Hwang 《Journal of Geodesy》2001,75(2-3):117-136
COSMIC is a joint Taiwan–US mission to study the atmosphere using the Global Positioning System (GPS) occultation technique.
Improved formulas are developed for the radial, along-track, and cross-track perturbations, which are more accurate than the
commonly used order-zero formulas. The formulas are used to simulate gravity recovery using the geodetic GPS data of COSMIC
in the operational phase. Results show that the EGM96 model can be improved up to degree 26 using 1 year of COSMIC data. TOPEX/POSEIDON
altimeter data are used to derive a temporal gravity variation. COSMIC cannot reproduce this gravity variation perfectly because
of data noise and orbital configuration, but the recovered field clearly shows the gravity signature due to mass movement
in an El Ni?o.
Received: 3 March 2000 / Accepted: 10 November 2000 相似文献
11.
We detail a low-cost method to estimate vehicle attitude for Satcom-on-the-move (SOTM) using micro inertial measurement unit and two-antenna global positioning system (GPS). The attitude is calculated by integrating gyros, while accelerometers and GPS are used as an aiding system to calibrate the gyro biases. In order to accurately eliminate the accelerometer errors induced by maneuvering accelerations, a sideslip compensation is proposed to calibrate the acceleration estimation derived from the GPS-measured velocity. An adaptive unscented Kalman filter is then developed to deal with the failure of the two-antenna GPS to provide the yaw and sideslip angles. When the yaw angle is unavailable and the vehicle is in straight motion, the yaw angle observation is substituted by velocity heading. During turning, the yaw angle observation is turned off and the yaw angle estimates are obtained from integrating gyros only. Meanwhile, the sideslip angle is estimated by differencing the yaw angle estimate and the velocity heading. The performance of the proposed method is demonstrated with driving tests, suggesting that this technique is a viable candidate for low-cost SOTM. 相似文献
12.
A fast algorithm is proposed to integrate the trajectory of a low obiter perturbed by the earth's non-sphericity. The algorithm
uses a separation degree to define the low-degree and the high-degree acceleration components, the former computed rigorously,
and the latter interpolated from gridded accelerations. An FFT method is used to grid the accelerations. An optimal grid type
for the algorithm depends on the trajectory's permissible error, speed, and memory capacity. Using the non-spherical accelerations
computed from EGM96 to harmonic degree 360, orbit integrations were performed for a low orbiter at an altitude of 170 km.
For a separation degree of 50, the new algorithm, together with the predict-pseudo correct method, speeds up the integration
by 145 times compared to the conventional algorithm while keeping the errors in position and velocity below 10−4 m and 10−7 m/s for a 3-day arc.
Received: 28 July 1997 / Accepted: 1 April 1998 相似文献
13.
EVA: GPS-based extended velocity and acceleration determination 总被引：1，自引：0，他引：1
Dagoberto Salazar Manuel Hernandez-Pajares Jose Miguel Juan-Zornoza Jaume Sanz-Subirana Angela Aragon-Angel 《Journal of Geodesy》2011,85(6):329-340
In this work, a new GPS carrier phase-based velocity and acceleration determination method is presented that extends the effective
range of previous techniques. The method is named ‘EVA’, and may find applications in fields such as airborne gravimetry when
rough terrain or water bodies make difficult or impractical to set up nearby GPS reference receivers. The EVA method is similar
to methods such as Kennedy (Precise acceleration determination from carrier phase measurements. In: Proceedings of the 15th
international technical meeting of the satellite division of the Institute of Navigation. ION GPS 2002, Portland pp 962–972,
2002b) since it uses L1 carrier phase observables for velocity and acceleration determination. However, it introduces a wide network
of stations and it is independent of precise clock information because it estimates satellite clock drifts and drift rates
‘on-the-fly’, requiring only orbit data of sufficient quality. Moreover, with EVA the solution rate is only limited by data
rate, and not by the available precise satellite clocks data rate. The results obtained are more robust for long baselines
than the results obtained with the reference Kennedy method. An advantage of being independent of precise clock information
is that, beside IGS Final products, also the Rapid, Ultra-Rapid (observed) and Ultra-Rapid (predicted) products may be used.
Moreover, the EVA technique may also use the undifferenced ionosphere-free carrier phase combination (LC), overcoming baseline
limitations in cases where ionosphere gradients may be an issue and very low biases are required. During the development of
this work, some problems were found in the velocity estimation process of the Kennedy method. The sources of the problems
were identified, and an improved version of the Kennedy method was used for this research work. An experiment was performed
using a light aircraft flying over the Pyrenees, showing that both EVA and the improved Kennedy methods are able to cope with
the dynamics of mountainous flight. A RTK-derived solution was also generated, and when comparing the three methods to a known
zero-velocity reference the results yielded similar performance. The EVA and the improved-Kennedy methods outperformed the
RTK solutions, and the EVA method provided the best results in this experiment. Finally, both the improved version of the
Kennedy method and the EVA method were applied to a network in equatorial South America with baselines of more than 1,770 km,
and during local noon. Under this tough scenario, the EVA method showed a clear advantage for all components of velocity and
acceleration, yielding better and more robust results. 相似文献
14.
A comparison and analysis of airborne gravimetry results from two strapdown inertial/DGPS systems 总被引：2，自引：0，他引：2
In September 1996 the University of Calgary tested a combination of strapdown inertial navigation systems and differential
global positioning system (DGPS) receivers for their suitability to determine gravity at aircraft flying altitudes. The purpose
of this test was to investigate the long-term accuracy and repeatability of the system, as well as its potential for geoid
and vertical gradient of gravity determination. The test took place during a 3-day period in the Canadian Rocky Mountains
over a single 100 × 100 km area which was flown with 10-km line spacing. Two flights were done at 4350 m in E–W and N–S profile
directions, respectively, and one at 7300 m with E–W profiles. Two strapdown inertial systems, the Honeywell LASEREF III and
the Litton-101 Flagship, were flown side by side. Comparison of the system estimates with an upward-continued reference showed
root-mean-square (RMS) agreement at the level of 3.5 mGal for 90- and 120-s filter lengths. The LASEREF III, however, performed
significantly better than the Litton 101 for shorter filtering periods of 30 and 60 s. A comparison between the two systems
results in an RMS agreement of 2.8 and 2.3 mGal for the 90- and 120-s filters. The better agreement between the two systems
is mainly due to the fact that the upward-continued reference has not been filtered identically to the system gravity disturbance
estimates. Additional low-frequency differences seem to point to an error in the upward-continued reference. Finally, an analysis
of crossover points between flight days for the LASEREF III shows a standard deviation of 1.6 mGal, which is near the noise
level of the INS and GPS data. Further improvements to the system are possible, and some ideas for future work are briefly
presented.
Received: 17 March 1998 / Accepted: 1 February 1999 相似文献
15.
先由IGS精密星历计算出GPS卫星的总加速度，此加速度可以作为卫星在空中飞行时所受全部力作用的结果；利用现有的力模型计算了部分摄动力对卫星产生的加速度，对这两种方法所得加速度进行了比较。结果表明，现有的力学模型与卫星运动中所受的实际作用力之间仍有不可忽视的差距。 相似文献
16.
GPS signal diffraction modelling: the stochastic SIGMA-δ model 总被引：1，自引：0，他引：1
The SIGMA-Δ model has been developed for stochastic modelling of global positioning system (GPS) signal diffraction errors
in high precision GPS surveys. The basic information used in the SIGMA-Δ model is the measured carrier-to-noise power-density
ratio (C/N0). Using the C/N0 data and a template technique, the proper variances are derived for all phase observations. Thus the quality of the measured
phase is automatically assessed and if phase observations are suspected to be contaminated by diffraction effects they are
weighted down in the least-squares adjustment. The ability of the SIGMA-Δ model to reduce signal diffraction effects is demonstrated
on two static GPS surveys as well as on a kinematic high-precision GPS railway survey. In cases of severe signal diffraction
the accuracy of the GPS positions is improved by more than 50% compared to standard GPS processing techniques.
Received: 27 July 1998 / Accepted: 1 March 1999 相似文献
17.
Christopher Jekeli 《Journal of Geodesy》1992,66(1):54-61
The Global Positioning System (GPS) is considered in conjunction with a strapdown Inertial Measurement Unit (IMU) for measuring the gravity vector. A comparison of this system in space and on an airborne platform shows the relative importance of each system element in these two different acceleration environments. With currently available instrumentation, the acceleration measurement accuracy is the deciding factor in space, while on an Earth-bound (including airborne) platform, the attitude error of the IMU is most critical. A simulation shows that GPS-derived accelerations in space can be accurate to better than 0.1mgal for a 30s integration time, leading to estimates of 1° mean gravity anomalies on the Earth's surface with an accuracy of 4–5 mgal. On an airborne platform, the horizontal gravity estimation error is tightly coupled to the attitude error of the platform, which can only be bounded by external attitude updates. Horizontal gravity errors of 5mgal are achievable if the attitude is maintained to an accuracy of 1arcsec. 相似文献
18.
H. Kutterer 《Journal of Geodesy》1998,72(2):51-63
GPS has become an essential tool for the precise determination of point positions. Since GPS campaigns for geodynamic purposes
– such as the monitoring of recent crustal movements – require major financial efforts, it is essential to ensure already
in the planning phase a good network quality and the attainment of the scientific goals in a reasonable time. The paper outlines
an operationally oriented procedure for these purposes based on the simulation and processing of GPS carrier-phase observations.
Sensitivity analysis techniques are applied to describe both the network strain as it may be induced by gross errors and the
detectability of point movements between two sessions or two campaigns. In addition, the eigenvalue decomposition of the variance-covariance
matrix of the GPS coordinates will be used to identify weakly determined network components. The design of the SCAR Epoch
95 Campaign GPS network is discussed throughout the paper. It was realized in the Antarctic summer 1994/1995 on the Antarctic
peninsula.
Received: 30 November 1995 / Accepted: 1 July 1997 相似文献
19.
Variances of GPS Phase Observations: The SIGMA-ɛ Model 总被引：4，自引：0，他引：4
The noise term of GPS phase data can be calculated from the measured carrier-to-noise power density ratios (C/N0). The C/N0
values are used in the proposed SIGMA-ɛ model to calculate the variance matrix of double-differenced GPS phase data. Examples
show the capability of this model to yield higher accuracies for GPS surveys than the use of the standard weighting scheme.
Most importantly, the SIGMA-ɛ model allows the use of noisier phase data from very low elevation satellites to overcome poor
satellite geometry problems. ? 1999 John Wiley & Sons, Inc. 相似文献
20.
Measurements of gravity were made on boardU.S.S. Becuna (SS 319) with a Vening Meinesz pendulum apparatus and a Graf sea gravimeter at approximately the same time.
Comparison of data uncorrected for depth of submergence, E?tvos correction and second order effects of horizontal acceleration
showed that there was a change related to time of observation. These corrections were not made as they would be the same for
both sets of observations, and no provision had yet been made to take care of the horizontal accelerations for the Graf sea
gravimeter. The variation with otime could be caused by instrumental drift or scale calibration. After removal of this effect
by visually fitting the data trend with a straight line, there were three observations with large discrepancies, seventeen
with discrepancies of 3–9 mgal and thirty-nine with discrepancies of 0–3 mgal, showing close approach to a statistical distribution.
The three large discrepancies may be dismissed because of very bad depth control during the observations. The discrepancies
3–9 mgals are larger than expected and perhaps are attributable to depth control and inadequate observation time for the Graf
sea gravimeter.
It is concluded that the Graf sea gravimeter shows great promise for use on a submarine. An apparatus to take into account
the horizontal acceleration effects must be added, and suitable drift characteristic obtained. Despite its advantages of ruggedness,
ease of operation, ease of data reduction, reduced size and weight, many more comparisons of the Graf sea gravimeter with
the Vening Meinesz pendulum equipment should be made before the latter are displaced
Probably the Graf sea gravimeter will be usable on a stable platform on a surface vessel at least in calm sea states. 相似文献