多模区域差分增强系统相关技术研究
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摘要
随着现代卫星导航定位系统的飞速发展，各国都开展了相应的差分增强系统的研究，而当前国内外对多模区域差分增强系统（MLDAS）的系统性研究目前还是空白，本文以MLDAS为中心开展了相关技术的研究，主要研究内容包括：MLDAS的设计和多模GNSS组合的性能分析、周跳探测与修复技术、差分改正数算法和载波相位平滑伪距技术、MLDAS系统的完好性监测和接收机自主完好性监测技术。
论文的主要工作成果总结如下：
1.设计了MLDAS的总体结构，针对参考站子系统、数据链率子系统、用户子系统的任务、处理流程以及各自要实现的功能进行了详细设计。并对数据链子系统的差分格式及纠错编码技术进行了研究。
2.对多GNSS系统组合应用的特性进行了深入分析，比较了各GNSS系统的异同点，对时间基准和空间参考坐标的转换、频谱间的干扰等进行了研究，以GPS和GALILEO组合系统为例，分析比较了多模系统与各单一系统在可见卫星数、定位精度衰减因子、最小可探测偏差等方面的性能，通过对比可知，多模系统性能比单系统的性能有显著提高。
3.对周跳探测与修复的常用方法：高次差法、多项式拟合法、多普勒法、电离层残差法、伪距相位组合法进行了研究，探讨了影响各方法探测修复精度的因素、使用条件、对数据的要求和探测能力。重点推导了基于三频线性组合的周跳探测方法，利用三频伪距相位组合进行周跳探测需全面考虑伪距噪声、电离层和噪声放大系数，以周跳实数解的方差最小作为选取三频线性组合的原则。最后用此原则选取的线性组合进行了周跳探测实验，结果显示此组合可探测几乎所有周跳。
4.提出了一种可应用于电磁暴条件下的电离层TEC变化率周跳探测修复方法。首先推导了电离层TEC变化率法的计算公式，并通过实验分析可知，电离层TEC变化率法可应用于电磁暴条件下的1s采样间隔数据中的周跳探测与修复。而针对此方法对某些周跳组合不敏感的问题，提出了可结合MW方法来进行周跳探测，实验结果显示，对于1s采样间隔的数据而言，电离层TEC变化率法与MW组合联合使用，对那些利用各自方法无法探测的周跳具有很高的成功率。
5.推导了区域差分增强系统的的改正数算法：一般加权平均法、线性内插法、低次曲面模型法和三角形内插法，对比了各算法异同点，模拟建立了一个参考站网络，将用户分参考站网络内、外两种情况，分别计算了各算法的系数，从内插质量因子角度分析了各个算法的特点和性能。
6.深入研究了MLDAS系统中实时载波平滑伪距差分的Hatch滤波技术，推导分析了Hatch滤波后的误差与平滑时间、伪距测量噪声、电离层延迟变化的关系公式，从公式可知平滑时间越长，噪声误差影响越小，但是由电离层延迟变化引起的误差却会增大。而忽略电离层延迟变化影响的经典Hatch滤波在平滑时间设定不合理时，其平滑结果会出现发散。
7.针对经典Hatch滤波存在的发散问题，综合考虑电离层延迟变化和伪距噪声的影响，提出了一种顾及电离层延迟变化的改进Hatch滤波算法。新算法利用经验公式求解噪声，而用Klobuchar模型估计电离层延迟变化率，再用卡尔丹方程求解最优平滑时间。改进算法对每颗卫星的每一历元都依据噪声和电离层的变化情况解算最优平滑时间，从而提高平滑效果。经过仿真和实测数据验证，改进Hatch滤波比经典Hatch滤波的解算结果有更高的定位精度和更好的稳健性。
8.设计了包括信号质量监测、数据质量监测、观测质量监测、多参考站一致性监测、均值-标准差监测、信号域监测等功能的MLDAS的完好性监测体系，各个监测模块发现异常时发出告警，系统通过一系列逻辑来对这些告警进行处理，从而隔离发生故障的卫星接收机通道，保障系统的完好性。
9.提出了一种应用于均值-标准差监测的改进累积和算法。针对在均值-标准差监测中常使用的累积和算法对较大的突发性大值偏差较难监测的缺点，将其它领域中广泛使用的、对突发大值偏差具有很好检测性能的通用控制图引入到经典累积和算法中，从而弥补了经典累积和算法的不足，在对相关参数进行合理设置的条件下，改进算法既能有效监测小的累积性误差又能一步检测大值偏差。而经过实验证明，改进算法对基于B值的均值和标准差监测中的无故障、中小的累积偏差、突发型大值偏差等三种情况均具有良好的性能。
10.研究了最小二乘残差法、奇偶空间矢量法等接收机自主完好性监测（RAIM）常用算法，利用最小二乘残差法基于实测数据进行了单故障探测隔离实验，实验结果显示，最小二乘残差法具有较好的单故障检测隔离能力。针对最小二乘残差法较难准确探测多故障的缺点，提出了一种改进的基于最小二乘残差的多故障探测方法。实验结果证明，改进算法具有较好的检测多故障的能力。
With the rapid development of GNSS, Augmentation system have be studied by more andmore countries，but Multi-Mode Local Difference Augment System (MLDAS) have not enteredinto the system research. The center of thesis is MLDAS. The main contents of paper are: designof MLDAS and multi-mode GNSS systems performance analysis, cycle slip detection and repairtechnology, differential correction algorithms and carrier phase smoothed pseudo rangetechnology, MLDAS system integrity and RAIM.
The main achievements of the thesis are summarized as follows:
1. In order to achieve the function, the thesis designed an overall structure and subsystemdetail of MLDAS, and discussed the differential format and error correction coding techniques.
2. The thesis analyzed on the characteristics of the combination of the multi-GNSSsystems deeply, and compared the similarities and differences of the various GNSS systems,discussed the time reference coordinates、the spatial reference coordinates, and their interfrequency interference. Based on the GPS and GALILEO system, the thesis analyzed thenumber of visible satellites, DOP factor, the minimum detection bias, by comparing theseperformance, it can be find that the multi-mode system performance is better than system alone.
3. The thesis discussed the cycle slip detection and repair methods: high-differencemethod, polynomial fitting method, Doppler method, ionosphere residual method, pseudo rangephase combination method, and then some experiments were carried out to analyze thesemethods precision, and the applicable conditions were gave for each method. And then the cycleslip detection algorithm using tri-frequency combination was discussed. The cycle slip detectionby Tri-frequency combination need to take into account the noise、ionosphere factor and noiseamplification factor. And the select principle of the Tri-frequency pseudorange carriercombination is the least variance of the cycle slip float resolution. And the thesis did anexperiment to test a group combination of cycle slip detection which are based on the leastvariance of the circle slip float resolution, and the experimental results can detect all the cycleslip.
4. Ionosphere TEC rate of cycle slip detection and repair method was proposed which canbe used in ionosphere storms. The formula of TEC rate algorithm was proposed. Theexperiments show that the storm can’t affect the useage of the TEC rate algorithm for1seccondsampling interval data. In order to detect some cycle slip which were difficult fot TEC ratealgorithm, a combined algorithm was proposed. Combined with MW method has a very highpossibility on the combination of cycle slips, which are very difficult to be detected by them alone.
5. The thesis studied the MLDAS’s corrections algorithm-the weighted average method,linear interpolation, low-surface model method and triangle interpolation method.And analyzedthe similarities and differences of various algorithms.And a simulation reference station networkwas build in order to analysis each algorithm performance.
6. The classical Hatch filter in carrier phase smoothed pseudorange difference was studied.The relationship among the filtering error and smoothing times、noise、ionosphere rate wasderived, from the formula we can knew,the more smooth time,the small noise error, but whenthe smoothing time become long, the ionosphere effect can not be ignored. It may lead to filterdivergence.
7. In order to reduce the classical Hatch filter divergence problem, The paper proposed anew Hatch filter method, Which take into account the ionosphere delay variation, It obtained thenoise error by empirical formula and get the ionosphere error by Klobuchar model，and deducedcalculated the smoothing time by cardaro. The improved Hatch filter algorithm works on eachsatellite at each epoch to get the optimal smooth time. The experiments show that the newalgorithm not only improved the positioning accuracy, but also enhance the robustness.
8. Thesis designed the integrity monitoring system of MLDAS. It includes Signal QualityMonitoring、Data Quality Monitoring、Measurement Quality Monitoring、Multiple ReferenceConsistency Check、mean and standard deviation Monitoring、Message Field Range Monitoring.the alarm can be issued for monitoring module logic, fault channel can be isolated, and theintegrity of the system will be get.
9. Accumulated algorithm was proposed which is use in the mean and standard deviationmonitoring. Accumulated algorithm can have good performance in accumulated error, but itcan’t quickly detect the large deviation, the improved algorithm which combined general controlcharts can rapid detection large deviation.It was introduced to the mean and standard deviationmonitoring to make it up for classical accumulated algorithms’ shortcoming. Experimentalresults show that the improved algorithm could not only monitor small medium cumulativedeviation but also to detect the large deviation.
10. The least squares residual RAIM and parity space vector RAIM were introduced. Andthe integrity of these algorithms was discussed. The least squares residual experimental resultsshow that, the least squares residual RAIM has a better detection capability to single fault. Thethesis proposed an improved method based on least squares residuals to detection multiple faults.This method assumed that the fault number and size were unknown. And assumed the fault ispositive errors caused by ionosphere and tropospheric delay, which can restrict the solver arepositive. Under the condition, the fault can be found which have the minimum least squares residual sum.
论文的主要工作成果总结如下：
1.设计了MLDAS的总体结构，针对参考站子系统、数据链率子系统、用户子系统的任务、处理流程以及各自要实现的功能进行了详细设计。并对数据链子系统的差分格式及纠错编码技术进行了研究。
2.对多GNSS系统组合应用的特性进行了深入分析，比较了各GNSS系统的异同点，对时间基准和空间参考坐标的转换、频谱间的干扰等进行了研究，以GPS和GALILEO组合系统为例，分析比较了多模系统与各单一系统在可见卫星数、定位精度衰减因子、最小可探测偏差等方面的性能，通过对比可知，多模系统性能比单系统的性能有显著提高。
3.对周跳探测与修复的常用方法：高次差法、多项式拟合法、多普勒法、电离层残差法、伪距相位组合法进行了研究，探讨了影响各方法探测修复精度的因素、使用条件、对数据的要求和探测能力。重点推导了基于三频线性组合的周跳探测方法，利用三频伪距相位组合进行周跳探测需全面考虑伪距噪声、电离层和噪声放大系数，以周跳实数解的方差最小作为选取三频线性组合的原则。最后用此原则选取的线性组合进行了周跳探测实验，结果显示此组合可探测几乎所有周跳。
4.提出了一种可应用于电磁暴条件下的电离层TEC变化率周跳探测修复方法。首先推导了电离层TEC变化率法的计算公式，并通过实验分析可知，电离层TEC变化率法可应用于电磁暴条件下的1s采样间隔数据中的周跳探测与修复。而针对此方法对某些周跳组合不敏感的问题，提出了可结合MW方法来进行周跳探测，实验结果显示，对于1s采样间隔的数据而言，电离层TEC变化率法与MW组合联合使用，对那些利用各自方法无法探测的周跳具有很高的成功率。
5.推导了区域差分增强系统的的改正数算法：一般加权平均法、线性内插法、低次曲面模型法和三角形内插法，对比了各算法异同点，模拟建立了一个参考站网络，将用户分参考站网络内、外两种情况，分别计算了各算法的系数，从内插质量因子角度分析了各个算法的特点和性能。
6.深入研究了MLDAS系统中实时载波平滑伪距差分的Hatch滤波技术，推导分析了Hatch滤波后的误差与平滑时间、伪距测量噪声、电离层延迟变化的关系公式，从公式可知平滑时间越长，噪声误差影响越小，但是由电离层延迟变化引起的误差却会增大。而忽略电离层延迟变化影响的经典Hatch滤波在平滑时间设定不合理时，其平滑结果会出现发散。
7.针对经典Hatch滤波存在的发散问题，综合考虑电离层延迟变化和伪距噪声的影响，提出了一种顾及电离层延迟变化的改进Hatch滤波算法。新算法利用经验公式求解噪声，而用Klobuchar模型估计电离层延迟变化率，再用卡尔丹方程求解最优平滑时间。改进算法对每颗卫星的每一历元都依据噪声和电离层的变化情况解算最优平滑时间，从而提高平滑效果。经过仿真和实测数据验证，改进Hatch滤波比经典Hatch滤波的解算结果有更高的定位精度和更好的稳健性。
8.设计了包括信号质量监测、数据质量监测、观测质量监测、多参考站一致性监测、均值-标准差监测、信号域监测等功能的MLDAS的完好性监测体系，各个监测模块发现异常时发出告警，系统通过一系列逻辑来对这些告警进行处理，从而隔离发生故障的卫星接收机通道，保障系统的完好性。
9.提出了一种应用于均值-标准差监测的改进累积和算法。针对在均值-标准差监测中常使用的累积和算法对较大的突发性大值偏差较难监测的缺点，将其它领域中广泛使用的、对突发大值偏差具有很好检测性能的通用控制图引入到经典累积和算法中，从而弥补了经典累积和算法的不足，在对相关参数进行合理设置的条件下，改进算法既能有效监测小的累积性误差又能一步检测大值偏差。而经过实验证明，改进算法对基于B值的均值和标准差监测中的无故障、中小的累积偏差、突发型大值偏差等三种情况均具有良好的性能。
10.研究了最小二乘残差法、奇偶空间矢量法等接收机自主完好性监测（RAIM）常用算法，利用最小二乘残差法基于实测数据进行了单故障探测隔离实验，实验结果显示，最小二乘残差法具有较好的单故障检测隔离能力。针对最小二乘残差法较难准确探测多故障的缺点，提出了一种改进的基于最小二乘残差的多故障探测方法。实验结果证明，改进算法具有较好的检测多故障的能力。
With the rapid development of GNSS, Augmentation system have be studied by more andmore countries，but Multi-Mode Local Difference Augment System (MLDAS) have not enteredinto the system research. The center of thesis is MLDAS. The main contents of paper are: designof MLDAS and multi-mode GNSS systems performance analysis, cycle slip detection and repairtechnology, differential correction algorithms and carrier phase smoothed pseudo rangetechnology, MLDAS system integrity and RAIM.
The main achievements of the thesis are summarized as follows:
1. In order to achieve the function, the thesis designed an overall structure and subsystemdetail of MLDAS, and discussed the differential format and error correction coding techniques.
2. The thesis analyzed on the characteristics of the combination of the multi-GNSSsystems deeply, and compared the similarities and differences of the various GNSS systems,discussed the time reference coordinates、the spatial reference coordinates, and their interfrequency interference. Based on the GPS and GALILEO system, the thesis analyzed thenumber of visible satellites, DOP factor, the minimum detection bias, by comparing theseperformance, it can be find that the multi-mode system performance is better than system alone.
3. The thesis discussed the cycle slip detection and repair methods: high-differencemethod, polynomial fitting method, Doppler method, ionosphere residual method, pseudo rangephase combination method, and then some experiments were carried out to analyze thesemethods precision, and the applicable conditions were gave for each method. And then the cycleslip detection algorithm using tri-frequency combination was discussed. The cycle slip detectionby Tri-frequency combination need to take into account the noise、ionosphere factor and noiseamplification factor. And the select principle of the Tri-frequency pseudorange carriercombination is the least variance of the cycle slip float resolution. And the thesis did anexperiment to test a group combination of cycle slip detection which are based on the leastvariance of the circle slip float resolution, and the experimental results can detect all the cycleslip.
4. Ionosphere TEC rate of cycle slip detection and repair method was proposed which canbe used in ionosphere storms. The formula of TEC rate algorithm was proposed. Theexperiments show that the storm can’t affect the useage of the TEC rate algorithm for1seccondsampling interval data. In order to detect some cycle slip which were difficult fot TEC ratealgorithm, a combined algorithm was proposed. Combined with MW method has a very highpossibility on the combination of cycle slips, which are very difficult to be detected by them alone.
5. The thesis studied the MLDAS’s corrections algorithm-the weighted average method,linear interpolation, low-surface model method and triangle interpolation method.And analyzedthe similarities and differences of various algorithms.And a simulation reference station networkwas build in order to analysis each algorithm performance.
6. The classical Hatch filter in carrier phase smoothed pseudorange difference was studied.The relationship among the filtering error and smoothing times、noise、ionosphere rate wasderived, from the formula we can knew,the more smooth time,the small noise error, but whenthe smoothing time become long, the ionosphere effect can not be ignored. It may lead to filterdivergence.
7. In order to reduce the classical Hatch filter divergence problem, The paper proposed anew Hatch filter method, Which take into account the ionosphere delay variation, It obtained thenoise error by empirical formula and get the ionosphere error by Klobuchar model，and deducedcalculated the smoothing time by cardaro. The improved Hatch filter algorithm works on eachsatellite at each epoch to get the optimal smooth time. The experiments show that the newalgorithm not only improved the positioning accuracy, but also enhance the robustness.
8. Thesis designed the integrity monitoring system of MLDAS. It includes Signal QualityMonitoring、Data Quality Monitoring、Measurement Quality Monitoring、Multiple ReferenceConsistency Check、mean and standard deviation Monitoring、Message Field Range Monitoring.the alarm can be issued for monitoring module logic, fault channel can be isolated, and theintegrity of the system will be get.
9. Accumulated algorithm was proposed which is use in the mean and standard deviationmonitoring. Accumulated algorithm can have good performance in accumulated error, but itcan’t quickly detect the large deviation, the improved algorithm which combined general controlcharts can rapid detection large deviation.It was introduced to the mean and standard deviationmonitoring to make it up for classical accumulated algorithms’ shortcoming. Experimentalresults show that the improved algorithm could not only monitor small medium cumulativedeviation but also to detect the large deviation.
10. The least squares residual RAIM and parity space vector RAIM were introduced. Andthe integrity of these algorithms was discussed. The least squares residual experimental resultsshow that, the least squares residual RAIM has a better detection capability to single fault. Thethesis proposed an improved method based on least squares residuals to detection multiple faults.This method assumed that the fault number and size were unknown. And assumed the fault ispositive errors caused by ionosphere and tropospheric delay, which can restrict the solver arepositive. Under the condition, the fault can be found which have the minimum least squares residual sum.
引文
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