An Integer Precise Point Positioning technique for sea surface observations using a GPS buoy

GPS data dedicated to sea surface observation are usually processed using differential techniques. Unfortunately, the precision of resulting kinematic positions is baseline-length dependent. So, high precision sea surface observations using differential GPS techniques are limited to coasts, lakes, and rivers. Recent improvements in GPS satellite products (orbits, clocks, and phase biases) make phase ambiguity fixing at the zero difference level achievable and opens up the observation of the sea surface without geographical constraints. This paper recalls the concept of the Integer Precise Point Positioning technique and discusses the precision of GPS buoy positioning. A sequential version of the GINS software has been implemented to achieve single epoch GPS positioning. We used 1 Hz data from a two week GPS campaign conducted in the Kerguelen Islands. A GPS buoy has been moored close to a radar gauge and 90 m away from a permanent GPS station. This infrastructure offers the opportunity to compare both kinematic Integer Precise Point Positioning and classical differential GPS positioning techniques to in situ radar gauge data. We found that Precise Point Positioning results are not significantly biased with respect to radar gauge data and that horizontal time series are consistent with differential processing at the sub-centimetre precision level. Nevertheless, standard deviations of height time series with respect to radar gauge data are typically [4–5] cm. The dominant driver for noise at this level is attributed to errors in tropospheric estimates which propagate into position solutions.     

LDPC码在卫星导航系统中的应用

作为一种接近香农极限的信道编码,近年来LDPC码被广泛采用,例如欧洲第二代数字视频广播卫星标准DVB-S2和空间数据咨询委员会(CCSDS)遥测信道编码标准就分别采用了LDPC码。文章将讨论LDPC码在卫星导航系统中的应用,内容涵盖星上编码与接收机解码。GPS联合项目办公室在接口规范(Draft IS-GPS-800,Navstar GPS Space Segment/User Segment L1C Interfaces,19 April 2006)中展现了L1电文结构中的LDPC码。子帧2和子帧3将分别用一个独立的24bit循环冗余检验(CRC)算法。加入CRC比特之后每一子帧将进一步被长度为1200/548码率为1/2的LDPC码编码。文章将给出同等长度同等码率的不同类型的LDPC码。它们表现出了优异的译码性能、简单的编码结构和较低的译码复杂度。另外一个优点是其校验矩阵无需用一系列的冗余表格来表示。这种LDPC码的构造方法可以被扩展到其它卫星导航系统,比如欧洲的伽俐略(Galileo)系统和中国的北斗(Compass)系统。     

GPS软件接收机中载波相位测量的实现

GPS接收机载波相位测量的精度优于码相位测量,但却存在整周模糊度。利用码和载波相位测量的组合可以提高伪距的精度,进而改善接收机的定位性能。研究GPS软件接收机中载波相位测量的实现方法。通过处理实际采集的信号,分析码和载波相位测量组合方法的性能。实验结果表明,通过50 s的平滑,伪距误差可以减小到毫米量级。     

GPS／SINS姿态组合系统空间一致性研究

在基于卡尔曼滤波器并引入了姿态观测量的GPS/SINS组合导航系统中,GPS天线体坐标系与IMU所在的载体坐标系由于安装误差或其他原因不能完全重合,两个坐标系间存在失准角,导致多天线GPS与SINS输出的姿态信息在空间不能同步,这将影响卡尔曼滤波的效果。本文针对这一问题进行了深入的研究,分析了两个坐标系空间不一致的机理,给出了静态和动基座情况下标定两个坐标系位置关系的方法并进行仿真分析验证了其可行性。     

GPS信号模拟器中x/sin(x)数字滤波器的设计和实现

结合一个实际 GPS信号模拟器数字中频系统的指标要求 ,介绍用 matlab设计窄带 x/sin( x)数字滤波器的方法 ,并在 Xilinx公司的 FPGA中实现所设计的 7阶 FIR滤波器 ,所设计的滤波器输出延迟为 8个时钟周期 ,后仿真的最高速度大于 1 2 0 MHz     

GNSS global real-time augmentation positioning: Real-time precise satellite clock estimation,prototype system construction and performance analysis

Lots of ambiguities in un-differenced (UD) model lead to lower calculation efficiency, which isn’t appropriate for the high-frequency real-time GNSS clock estimation, like 1 Hz. Mixed differenced model fusing UD pseudo-range and epoch-differenced (ED) phase observations has been introduced into real-time clock estimation. In this contribution, we extend the mixed differenced model for realizing multi-GNSS real-time clock high-frequency updating and a rigorous comparison and analysis on same conditions are performed to achieve the best real-time clock estimation performance taking the efficiency, accuracy, consistency and reliability into consideration. Based on the multi-GNSS real-time data streams provided by multi-GNSS Experiment (MGEX) and Wuhan University, GPS + BeiDou + Galileo global real-time augmentation positioning prototype system is designed and constructed, including real-time precise orbit determination, real-time precise clock estimation, real-time Precise Point Positioning (RT-PPP) and real-time Standard Point Positioning (RT-SPP). The statistical analysis of the 6 h-predicted real-time orbits shows that the root mean square (RMS) in radial direction is about 1–5 cm for GPS, Beidou MEO and Galileo satellites and about 10 cm for Beidou GEO and IGSO satellites. Using the mixed differenced estimation model, the prototype system can realize high-efficient real-time satellite absolute clock estimation with no constant clock-bias and can be used for high-frequency augmentation message updating (such as 1 Hz). The real-time augmentation message signal-in-space ranging error (SISRE), a comprehensive accuracy of orbit and clock and effecting the users’ actual positioning performance, is introduced to evaluate and analyze the performance of GPS + BeiDou + Galileo global real-time augmentation positioning system. The statistical analysis of real-time augmentation message SISRE is about 4–7 cm for GPS, whlile 10 cm for Beidou IGSO/MEO, Galileo and about 30 cm for BeiDou GEO satellites. The real-time positioning results prove that the GPS + BeiDou + Galileo RT-PPP comparing to GPS-only can effectively accelerate convergence time by about 60%, improve the positioning accuracy by about 30% and obtain averaged RMS 4 cm in horizontal and 6 cm in vertical; additionally RT-SPP accuracy in the prototype system can realize positioning accuracy with about averaged RMS 1 m in horizontal and 1.5–2 m in vertical, which are improved by 60% and 70% to SPP based on broadcast ephemeris, respectively.     

基于嵌入式技术的微型潜艇研制

提出了一套“无线遥测遥控GPS自动导航微型摄影潜艇”的解决方案。综合了多种学科、集成了多项嵌入式技术,最终实现了由岸上的计算机通过远程无线遥控遥测水下潜艇、借助GPS导航自动航行、遥测水体数据、并实时观测水下视频场景功能。     

基于MLAMBDA的BDS/GPS单频RTK性能分析

GNSS RTK技术以其高精度、高效率、实时性的优点,被广泛应用于航空航天等领域.目前双频RTK技术已非常成熟并且应用较广.相比于双频,单频GNSS RTK在数据质量控制、定位误差处理等方面存在难点.因此单频RTK服务精度可能会受到限制,其定位性能有待研究.本文基于扩展卡尔曼滤波模型,通过MLAMBDA模糊度搜索方法和Ratio检验法,结合实测数据,对比分析BDS,GPS,BDS/GPS三种模式下的单频RTK定位性能.实验证明在静态场景下,三种模式的单频RTK定位精度都在厘米级,可满足高精度定位需求;动态场景下三种模式的模糊度固定率都在70%以上,可满足日常定位需求.在静态及动态应用场景下,北斗的模糊度固定率最高,模糊度解算所用时间短,能实现快速RTK定位.      

基于《产品几何技术规范(GPS)》的最新变动

如何正确理解《产品几何技术规范(GPS)》的最新国家标准,只有将其重要的定义、概念、名称等与之相对应的旧国标对照,才可以做到心中有数,才能将这最重要的基础性标准了解清楚,从而更好、更准确地掌握和应用它。     

一种适合单频GPS动态求解整周模糊度的方法

对于高精度测量和导航,GPS载波相位整周模糊度的快速求解仍然是一个难点,尤其对于单频接收机。本文提出一种动态快速求解整周模糊度的方法,其基本思想先对系数阵进行QR分解,然后通过矩阵变换使模糊度参数和位置参数分离,从而降低矩阵的维数,满足实时动态求解的要求,最后应用LAMBDA方法搜索模糊度。为验证该算法,我们用单频GPS接收机进行了两种实验(静态和动态),利用本文方法解算,静态误差小于1．5cm,动态误差小于4cm。实验结果表明：对于动态用户,该方法是快速和有效的。该方法可应用于高精度的导航和定位。