Analysis of precipitable water vapor from GPS measurements in Chengdu region: Distribution and evolution characteristics in autumn

The rainfall process of Chengdu region in autumn has obvious regional features. Especially, the night-time rain rate of this region in this season is very high in China. Studying the spatial distribution and temporal variation of regional atmospheric precipitable water vapor (PWV) is important for our understanding of water vapor related processes, such as rainfall, evaporation, convective activity, among others in this area. Since GPS detection technology has the unique characteristics, such as all-weather, high accuracy, high spatial and temporal resolution as well as low cost, tracking and monitoring techniques on water vapor has achieved rapid developments in recent years. With GPS–PWV data at 30-min interval gathered from six GPS observational stations in Chengdu region in two autumns (September 2007–December 2007 and September 2008–December 2008), it is revealed that negative correlations exist between seasonally averaged value of GPS–PWV as well as its variation amplitude and local terrain altitude. The variation of PWV in the upper atmosphere of this region results from the water vapor variation from surface to 850 hPa. With the help of Fast Fourier Transform (FFT), it is found that the autumn PWV in Chengdu region has a multi-scale feature, which includes a seasonal cycle, 22.5 days period (quasi-tri-weekly oscillation). The variation of the GPS–PWV is related to periodical change in the transmitting of the water vapor caused by zonal and meridional wind strengths’ change and to the East Asian monsoon system. According to seasonal variation characteristics, we concluded that the middle October is the critical turning point in PWV content. On a shorter time scale, the relationship between autumn PWV and ground meteorological elements was obtained using the composite analysis approach.     

星载激光测高仪辅助卫星摄影测量浅析

激光测高仪可以快速高精度获取地面高程信息,弥补卫星光学遥感影像三维信息获取能力的不足。采用高精度激光测高数据作为控制信息,符合卫星摄影测量尽量减少地面控制点的发展趋势。文章首先介绍了实际卫星立体测绘中难以解决的问题,结合激光测高的特点,设计了星载激光测高仪辅助空中三角测量立体测绘的方案。根据摄影测量观测方程和激光测高仪对地观测方程,以及卫星影像和激光测高数据外方位元素之间的联系,由光束法平差原理建立观测误差方程。对星载激光测高仪进行定位精度理论分析,采用高精度激光测高数据可以作为高程控制,提高高程观测精度。最后对卫星摄影测量数据与星载激光测高数据联合平差仿真实验,实验结果表明定位精度明显提高。     

卫星信号缺失情况下GPS/SINS组合导航系统研究

针对GPS/SINS组合导航在复杂环境中出现的卫星信号不全情况,在分析SINS误差模型的基础上建立了组合导航的松组合和紧组合模型,采用无迹卡尔曼滤波对两种组合模式进行仿真实验.仿真结果显示,在卫星信号正常情况下,紧组合的导航精度高于松组合;在卫星信号缺失时,松组合转变为单纯的惯性导航,导航误差随时间积累,紧组合虽然误差增大,但在一定时间内仍能提供精确导航信息,提高了GPS/SINS组合导航适应复杂环境的能力.     

奥克啤酒广告定位剖析

广告效果不好的原因与广告定位的失当有很大关系。作者通过对一个企业的广告定位的剖析，探讨其广告活动的得失及存在问题。     

利用GPS进行角速度确定的研究

提出了一种利用GPS进行载体角速度测量的方法 ,建立了测量数学模型 ,并进行了计算机仿真 ,仿真结果表明 ,该方案可以得到较为满意的结果     

基于多模PPP-AR技术的大气水汽探测性能分析

精密单点定位（precise point positioning，PPP）反演大气可降水量（precipitable water vapor，PWV）具有精度高、实时性强等优点，能够在灾害监测、降雨预报及探测降水信息等方面发挥重要作用。为评估整周模糊度固定模式下PPP-AR（PPP ambiguity resolution）反演PWV的性能，选取全球范围16个MGEX站2022年4个时段的观测数据，采用最终精密星历解算，设置不同星座组合（GPS,BDS-3,GPS+BDS-3,GPS+GLO+GAL+BDS-3）获取对流层延迟（zenith total delay，ZTD）估值，并转换为PWV。从PPP-ZTD与IGS-ZTD的相关性、PPP-ZTD收敛时间、ZTD估值精度和PPP-PWV估值精度4个方面评价多模PPP-AR探测水汽的性能。结果表明，与单（G、C）、双系统（GC）固定解相比，多系统（GREC）固定解获取ZTD估值更加精确，相关系数更高。相较于单、双系统，多系统具有更快的收敛速度，收敛时间分别缩短了27%,25%和20%，多系统固定解与浮点解相比收敛时间缩短11%。此外，对GNSS PPP反演的PWV与探空站PWV（RS-PWV）进行对比，结果表明，WUH2站与HOB2站单、双、多系统固定解、多系统浮点解（float-GREC）的平均均方根误差分别为6.40 mm,6.48 mm,6.19 mm,6.17 mm,6.19 mm和5.82 mm,5.77 mm,5.72 mm,5.62 mm,5.70 mm。多模下得到的PWV估值精度最高，可为高精度的水汽反演提供支持。     

基于工业机器人的机身系统件定位方法研究

针对传统系统件安装工艺采用固定式定位工装导致装配系统开敞性差、柔性程度低的问题,提出了基于工业机器人的机身系统件定位方法,确定了系统件辅助定位工装的标定方法,基于奇异值分解法和位姿等价变换原理确定了工业机器人的位姿调整算法,最后通过系统件辅助定位工装定位试验得出了系统件的定位精度。     

一种适用于曲面结构的机器人制孔误差在线补偿技术

针对工业机器人应用于飞机零部件自动钻孔时各项误差累积造成制孔精度差的问题，提出一种利用单应关系计算机器人驱动坐标三维偏差，以在线补偿机器人制孔精度的方法。首先利用外部测量设备建立机器人制孔系统中各坐标系关系；在标定阶段，通过以一定倾斜角度固联于机器人末端的相机拍摄一幅安装于制孔工作平面上与刀轴正对的平面标定板图像，并据此完成基于单应变换的手-眼关系标定；在实际制孔过程中，机器人在测距传感器及相机的辅助下，从基准孔理论坐标对应的姿态，不断调整至基准孔正上方理想位置，通过手-眼关系计算基准孔实际位置对应的机器人驱动坐标，然后根据一组基准孔的机器人三维驱动误差，计算三维驱动误差变换矩阵，据此获得这组基准孔邻域范围内各待钻孔的机器人驱动坐标补偿量，从而实现待钻孔定位误差补偿。以飞机结构实验件为对象进行了模拟制孔验证，实验结果表明，补偿前待钻孔三维综合定位误差和法向误差测量值范围分别为2.28~2.85 mm和2.09°~3.93°，平均为2.55 mm和3.30°，补偿后制孔最大误差分别不超过0.30 mm和0.21°，满足自动制孔位置精度要求。     

Displacement monitoring performance of relative positioning and Precise Point Positioning (PPP) methods using simulation apparatus

Besides the classical geodetic methods, GPS (Global Positioning System) based positioning methods are widely used for monitoring crustal, structural, ground etc., deformations in recent years. Currently, two main GPS positioning methods are used: Relative and Precise Point Positioning (PPP) methods. It is crucial to know which amount of displacement can be detected with these two methods in order to inform their usability according to the types of deformation. Therefore, this study conducted to investigate horizontal and vertical displacement monitoring performance and capability of determining the direction of displacements of both methods using a developed displacement simulator apparatus. For this purpose, 20 simulated displacement tests were handled. Besides the 24?h data sets, 12?h, 8?h, 4?h and 2?h subsets were considered to examine the influence of short time spans. Each data sets were processed using GAMIT/GLOBK and GIPSY/OASIS scientific software for relative and PPP applications respectively and derived displacements were compared to the simulated (true) displacements. Then statistical significance test was applied. Results of the experiment show that using 24?h data sets, relative method can determine up to 6.0?mm horizontal displacement and 12.3?mm vertical displacement, while PPP method can detect 8.1?mm and 19.2?mm displacements in horizontal and vertical directions respectively. Minimum detected displacements are found to grow larger as time spans are shortened.     

Preliminary analysis of the quality and positioning performance of BDS-3 global interoperable signal B1C&B2a

BeiDou-3 Navigation Satellite System (BDS-3) satellites are equipped with the new generation GNSS signals B1C and B2a, which support the interoperability with GPS and Galileo systems. In this study, the pseudo-range multipath error and carrier phase observation noise of the BDS-3 B1C and B2a signals were evaluated based on zero baseline measurements from the day of year (DOY) 113 to 116, 2020. Further, the precision and performance of the single point positioning (SPP) and precise point positioning (PPP) are assessed at 9 stations. This assessment manifests that the standard deviations (STDs) of the pseudo-range multipath error are about 0.09 ~ 0.22 m, while STDs of the carrier phase observation noise are about 0.075 mm. For the single-frequency SPP, its positioning precision is about 2.03 ~ 4.85 m and 3.29 ~ 10.73 m at the 99.99% confidence level in horizontal and vertical directions, respectively, while the dual-frequency SPP precision is about 1.92 ~ 8.02 m and 4.81 ~ 12.77 m in horizontal and vertical directions, respectively. For the daily static PPP, the convergence time is about 20 ~ 30 min, while the daily positioning precision can reach 1.38 ~ 4.42 cm and -1.31 ~ 4.34 cm in horizontal and vertical directions, respectively. In general, the quality and the SPP and PPP performance of the BDS-3 B1C&B2a signals are comparable to the GPS and Galileo.