GPS精密单点定位和高精度GPS基线网平差研究及其软件实现
|
摘要
随着空间技术的发展,GPS定位技术应用越来越广泛,人们对GPS的定位精度要求也越来越高,因此,研究精密单点定位(PPP)和高精度GPS网平差的数据处理方法具有重要的理论和实际价值。
对于本文的研究内容,主要包括两大部分:一是精密单点定位模型和卫星钟差研究及P3TEXT软件实现;研究涉及利用频谱分析法分析精密星历卫星钟差精度;精密单点定位数学模型的建立,以及基于自适应滤波的PPP算法,并编写相应的软件P3TEXT等。二是高精度GPS网平差数据处理方法研究,其中包括采用附加系统参数和附加基准条件的平差处理方法,编制了相应的高精度GPS网平差软件HPGPSADJ。
概括起来,本文主要做了以下几方面的工作:
(1)论述了GPS单点定位的观测模型以及线性组合。分析了各种误差源以及相应的改正模型,总结了精密单点定位中的主要关键技术。
(2)利用频谱分析的方法对IGS精密星历钟差产品进行了精度分析,得出了卫星钟差精度不均匀的结论。
(3)研究了GPS精密单点定位的数学模型,包括函数模型和随机模型。针对卡尔曼滤波容易发散的缺点,引入了三种自适应滤波模型,并将其运用于精密单点定位中。
(4) GPS动态定位中,如采用序贯平差求解,模糊度参数变化以及参考星升降时,前后历元的承接关系异常复杂,这使得序贯平差模型变得十分复杂,针对这个问题,本文详细推导了序贯平差统一模型,并通过算例验证了模型的正确性和高效性。
(5)论述了高精度GPS网的四种平差方法和三种参考基准,并分析了不同参考基准的几何意义。同时,当参考基准不一致时,需要在基线处理阶段或网平差处理阶段统一基准。
(6)重点研究了高精度GPS形变监测网的平差数学模型,包括平差函数模型、随机模型以及附加系统参数的平差基准模型等。推导了系统参数对坐标估值的影响公式,提出形变监测网数据处理时,应在平差模型中考虑系统参数的影响,同时须选择合适的基准模型。
(7)编制了精密单点定位软件P3TEXT和高精度GPS网平差软件HPGPSADJ,展示了软件的基本思路以及程序框架。
With the development of space technology, the technique of GPS positioning has wide applications, there increasingly requires high-precision of this type of positioning. Hence, it will have certain theoretical and practical value to study the precise point positioning and the methodology of data processing in the adjustment of GPS high-precision network.
In general, this thesis can be divided into two parts. The first consists of the study of precise single-point positioning model and satellite clock error as well as the realization of P3EXT software. This part is mainly about research on the accuracy of precise ephemeris clock error through spectral analysis, the mathematical model of precise single-point positioning, the comparison of three adaptive filtering in ppp, the compilation of the corresponding software and so on. The second includes study of methodology of data processing in the adjustment of GPS high-precision network. In this section, the author compiles the corresponding software by adopting the condition adjustment with datum and system parameters.
The work done can be summarized as follows:
The observational model and its linear combination of GPS single-point positioning are discussed in the paper. The author also analyses various error sources as well as the corresponding modification model and generalizes key techniques in precise single-point positioning.
Applying spectral analysis to analyze the accuracy of the products of IGS precise ephemeris clock error, the author concludes that the precision of satellite clock error is uneven.
The mathematical model of precise single-point positioning, including function model and stochastic model, is also discussed in the thesis. As Kalman Filtering is apt to scatter, three kinds of models of adaptive filtering are balanced and applied to precise single-point positioning.
In GPS kinematic positioning, if adopting sequential adjustment, when the ambiguity parameters are changing and the reference satellite is moving, the relations between adjacent epoch will become abnormally complex, resulting in the complexity of adjustment model. To address this issue, the author obtains a unified model of sequential adjustment and justifies its rightness and high efficiency by applying to practical examples.
This thesis is focused on the study of adjustment model of GPS high-precision deformation monitoring network, including function model, stochastic model as well as adjustment datum model with system parameters and so on. The impact formula of system parameters on coordinate estimation is obtained. When processing data of deformation monitoring network, the author suggests considering the impact of system parameters and selecting appropriate datum model.
It has been finished the compilation of software of precise single-point positioning and adjustment of GPS high-precision network. Basic idea and procedural framework of the software are also shown in the thesis.
对于本文的研究内容,主要包括两大部分:一是精密单点定位模型和卫星钟差研究及P3TEXT软件实现;研究涉及利用频谱分析法分析精密星历卫星钟差精度;精密单点定位数学模型的建立,以及基于自适应滤波的PPP算法,并编写相应的软件P3TEXT等。二是高精度GPS网平差数据处理方法研究,其中包括采用附加系统参数和附加基准条件的平差处理方法,编制了相应的高精度GPS网平差软件HPGPSADJ。
概括起来,本文主要做了以下几方面的工作:
(1)论述了GPS单点定位的观测模型以及线性组合。分析了各种误差源以及相应的改正模型,总结了精密单点定位中的主要关键技术。
(2)利用频谱分析的方法对IGS精密星历钟差产品进行了精度分析,得出了卫星钟差精度不均匀的结论。
(3)研究了GPS精密单点定位的数学模型,包括函数模型和随机模型。针对卡尔曼滤波容易发散的缺点,引入了三种自适应滤波模型,并将其运用于精密单点定位中。
(4) GPS动态定位中,如采用序贯平差求解,模糊度参数变化以及参考星升降时,前后历元的承接关系异常复杂,这使得序贯平差模型变得十分复杂,针对这个问题,本文详细推导了序贯平差统一模型,并通过算例验证了模型的正确性和高效性。
(5)论述了高精度GPS网的四种平差方法和三种参考基准,并分析了不同参考基准的几何意义。同时,当参考基准不一致时,需要在基线处理阶段或网平差处理阶段统一基准。
(6)重点研究了高精度GPS形变监测网的平差数学模型,包括平差函数模型、随机模型以及附加系统参数的平差基准模型等。推导了系统参数对坐标估值的影响公式,提出形变监测网数据处理时,应在平差模型中考虑系统参数的影响,同时须选择合适的基准模型。
(7)编制了精密单点定位软件P3TEXT和高精度GPS网平差软件HPGPSADJ,展示了软件的基本思路以及程序框架。
With the development of space technology, the technique of GPS positioning has wide applications, there increasingly requires high-precision of this type of positioning. Hence, it will have certain theoretical and practical value to study the precise point positioning and the methodology of data processing in the adjustment of GPS high-precision network.
In general, this thesis can be divided into two parts. The first consists of the study of precise single-point positioning model and satellite clock error as well as the realization of P3EXT software. This part is mainly about research on the accuracy of precise ephemeris clock error through spectral analysis, the mathematical model of precise single-point positioning, the comparison of three adaptive filtering in ppp, the compilation of the corresponding software and so on. The second includes study of methodology of data processing in the adjustment of GPS high-precision network. In this section, the author compiles the corresponding software by adopting the condition adjustment with datum and system parameters.
The work done can be summarized as follows:
The observational model and its linear combination of GPS single-point positioning are discussed in the paper. The author also analyses various error sources as well as the corresponding modification model and generalizes key techniques in precise single-point positioning.
Applying spectral analysis to analyze the accuracy of the products of IGS precise ephemeris clock error, the author concludes that the precision of satellite clock error is uneven.
The mathematical model of precise single-point positioning, including function model and stochastic model, is also discussed in the thesis. As Kalman Filtering is apt to scatter, three kinds of models of adaptive filtering are balanced and applied to precise single-point positioning.
In GPS kinematic positioning, if adopting sequential adjustment, when the ambiguity parameters are changing and the reference satellite is moving, the relations between adjacent epoch will become abnormally complex, resulting in the complexity of adjustment model. To address this issue, the author obtains a unified model of sequential adjustment and justifies its rightness and high efficiency by applying to practical examples.
This thesis is focused on the study of adjustment model of GPS high-precision deformation monitoring network, including function model, stochastic model as well as adjustment datum model with system parameters and so on. The impact formula of system parameters on coordinate estimation is obtained. When processing data of deformation monitoring network, the author suggests considering the impact of system parameters and selecting appropriate datum model.
It has been finished the compilation of software of precise single-point positioning and adjustment of GPS high-precision network. Basic idea and procedural framework of the software are also shown in the thesis.
引文
[1] Abdel-salam, M. Precise Point Positioning Using Un-Differenced Code and Carrier Phase Observation [D]. Univ. CALGARY,2005
[2] Alfred Leick.GPS Satellite Surveying[M].Hoboken:John Wiley & Sons,Inc,2004
[3] Axelrad,P, R.G.Brown. GPS Navigation Algorithms. In Global Positioning System: Theory and Applications [C], Progress in Astronautics and Aeronautics, Volume 1, Chapter 9. Eds.B.W. Parkinson, J.J. Spilker. Volume 164, American Institute of Aeronautics and Astronautics, Inc., V, Washington, D.C.,U.S.A
[4] Bona, P. Accuracy of GPS phase and Code Observations in Practice. Acta Geod.Geoph. Hung., 2000, 35(4),433-451
[5] Bona, P. Precision, Cross Correlation, and Time Correlation of GPS Phase and Code Observations [J]. GPS Solutions, 2000, 4(2),3-13
[6] EL-Rabbany, A. The Effect of Physical Correlations of the Ambiguity Resolution and Accuracy Estimation in GPS Differential Positioning [D]. The University of New Brunswick Fredericton, NB, 1994, Technical Report 170
[7] Geoffrey Blewitt. An Automatic Editing Algorithm for GPS Data [J]. Geo physical Research Letters, 1990, Volume 17, Issue 3, p. 199-202
[8] Hofmann-Wellenhof, B Lichtenegger, J Collins. GPS Theory and Practice [M]. Springer-Verlag, New York,2001
[9] IGS. http://sopac.ucsd.edu./cgi-bin/dbDataByDate.cgi. 2008.
[10] ITRF.http://itrf.ensg.ign.fr/GIS/.2008
[11] Kechine,M.O.,C.C.J.M.Tiberius,H.van der Marel. Experimental Verification of Internet-Based Global Differential GPS [J]. Proceedings of ION GPS 2003, Portland, Oregon, 24-27 September
[12] Kouba J, Héroux P. Precise Point Positioning Using IGS Orbit and Clock Products [J]. GPS Solution, 2002, 5(2):12-28
[13] Kouba, J., P.Heroux. GPS Precise Point Positioning Using IGS Orbit Products[J].GPS Solutions,2000, Vol.5,No.2
[14] Liu,X. A Comparison of Stochastic Models for GPS Single Differential KinematicsPositioning[C]. ION GPS 2001, 2001, Salt Lake City, UT, 11-14 September
[15] Tiberius, C.C.J.M.The GPS Data Weight Matrix: What Are the Issues[C]? National Technical Meeting Proceedings, 1999, San Diego, California, January 25-27
[16] Xu G.C. GPS-Theory, Algorithms and Applications. 2rd Edition. Springer-Verlag Berlin, 2007
[17] Xu G.C. GPS-Theory, Algorithms and Applications. Springer-Verlag Berlin,2003
[18] Yang Y.X. Robust Estimation for Dependent Observations [J]. Manuscripts Geodetics, 1994, 19:10-17
[19] YANG Yuanxi, GAO Weiguang. An optimal adaptive Kalman filter [J]. Journal of Geodesy,2006,80:177-183
[20] YANG Yuanxi, HE Haibo, XU Guochang. A New Adaptively Robust Filtering for Kinematic Geodetic Positioning [J]. Journal of Geodesy,2001,75(2):109-116
[21] YANG Yuan-xi, SONG Li-jie, Xu Tian-he. New Robust Estimator for the Adjustment of Correlated GPS Networks [A]. First International Symposium on Robust Statistics and Fuzzy Techniques in Geodesy and GIS[C]. Swiss Federal Institute of Technology Zurich, IGP-Bericht 2001, 295:199-208
[22] Zhang Q, Wang L, etc. The Datum Design Study of High Precision GPS Height Monitoring Network----with the Example of Monitoring Land Subsidence &Ground Fissure in XIAN City[J].IAIN/GNSS 2006,2006(1):229-234
[23] Zumberge J, Heflin M, Jefferson D. Precise Point Positioning for the Efficient and Robust Analysis of GPS Data from Large Networks[J]. Geophys.Res., 1997,102:5005-5017
[24]陈义.精密点定位技术和GPS掩星技术在CHAMP卫星中的应用研究[D].上海:同济大学,2004
[25]程佩青.数字信号处理教程[M].北京:清华大学出版社,1995
[26]戴吾蛟,丁晓利,朱建军等.基于经验模式分解的滤波去噪法及其在GPS多路径效应中的应用[J].测绘学报,2006,35(4):321-327
[27]丁克良,刘大杰,胡丛玮.GPS基线相关性对平差结果的影响[J].大地测量与地球动力学,2006,26(2):79-82
[28]高伟,徐绍铨,刘爱田,王超.GPS测量在城市地面沉降监测中的应用研究[J].山东农业大学学报(自然科学版),2004,35(3):395-400
[29]郭海荣.导航卫星原子钟时频特性分析理论与方法研究[D].解放军信息工程大学,2006
[30]国家质量技术监督局,全球定位系统(GPS)测量规范[S],2001
[31]郝明,欧吉坤,郭建锋等.一种加速精密单点定位收敛的新方法.武汉大学学报·信息科学版,2007,32(10):902-905
[32]郝明.加速GPS精密单点定位收敛的方法研究[D].武汉:中国科学院测量与地球物理研究所,2007
[33]黄德武,熊永良.基于小波分析的GPS多路径效应研究[J].工程勘察,2007(4):63-65
[34]黄观文,张勤,丁晓光等.一种高精度GPS基线网平差及软件研制[J].测绘科学,2009年第2期,待刊
[35]黄观文,张勤,许国昌等.基于频谱分析的IGS精密星历卫星钟差精度分析研究[J].武汉大学学报(信息科学版),2008,33(5):496-499
[36]黄维彬.近代平差理论及应用.北京:解放军出版社,1992
[37]贾沛璋,吴连大.单频GPS周跳检测与估计算法[M].天文学报,2001,42(2):192-197
[38]李洪涛,许国昌,薛鸿印等.GPS应用程序设计[M].北京:科学出版社,1999
[39]李清泉.陀螺经纬仪时间观测数据函数模型的研究[J].武汉测绘科技大学学报,1990,15(3):11-20
[40]李延兴,胡新康,赵承坤.GPS监测网数据处理方案研究[J].测绘学报,1999,28(1):62-66
[41]李征航,丁文武,李昭.GPS广播星历的轨道误差分析[J].大地测量与地球动力学,2008,28(1):50-54
[42]刘大杰,白征东.一种GPS网三维平差的数学模型[J].测绘学报,1997(a),25(2):176-180
[43]刘大杰,胡丛玮.应用GPS监测城市地表形变的初步分析[J].地壳形变与地震,1999,19(1):37-42
[44]刘大杰,施一民,余晓红.GPS技术用于监测大城市三维形变[J].同济大学学报,1997,25(2):176-180
[45]刘大杰,施一民,余晓红.城市GPS三维形变监测网的建立和数据处理[J].同济大学学报,1998,26(5):547-551
[46]刘大杰,陶本藻.GPS监测网形变分析基准和检验:GPS卫星定位的应用与数据处理[M].上海:同济大学出版社.1994,92-102
[47]刘焱雄,彭琳,周兴华等.网解和PPP解的等价性[J].武汉大学学报(自然科学版),2005,30(8):736-738
[48]刘忠,黄观文,丁晓光.GPS动态定位序贯平差统一模型[J].地球科学与环境学报,2008年第3期,待刊
[49]楼益栋,刘万科,张小红.GPS卫星星历的分析[J].测绘信息与工程, 2003,28(6):4-6
[50]欧吉坤,柴艳菊,袁运斌.自适应选权滤波[C].见:朱耀仲等编,大地测量与地球动力学进展.武汉:湖北科学技术出版社,2004,816-823
[51]欧吉坤.测量平差中不适定问题解的统一表达与选权拟合法[J].测绘学报,2004,33(4):283-288
[52]祁芳.卡尔曼滤波算法在GPS非差相位精密单点定位中的应用研究[D].武汉:武汉大学,2003
[53]任超,欧吉坤,袁运斌.自适应滤波在GPS高精度动态定位中的应用[J].自然科学进展,2005,15(7):876-881
[54]任超.GPS高精度定位理论及其在有轨载体定位中的应用[D].武汉:中国科学院测量与地球物理研究所,2004
[55]沈云中,傅晓明.固定转换参数的GPS网平差与坐标转换模型[J].同济大学学报,2004,32(5):652-655
[56]施闯.大规模高精度GPS网平差与分析理论及其应用[D].武汉:武汉测绘科技大学,1999
[57]施闯.大规模高精度GPS网平差与分析理论及其应用[M].北京:测绘出版社,2002
[58]宋文尧,张牙.卡尔曼滤波[M].北京:科学出版社,1991
[59]隋立芬,刘雁雨,王威.自适应序贯平差及其应用[J].武汉大学学报·信息科学版[J].2007,32(1):51-54
[60]隋立芬.高精度GPS网的统一与数据处理若干问题研究[D].郑州:信息工程大学,2001
[61]陶本藻.关于高精度GPS网平差基本观测量的选取问题[J].测绘通报,1999,第9期:6-8
[62]陶本藻.自由网平差与变形分析[M].武汉:武汉测绘科技大学出版社,2001
[63]魏子卿,葛茂荣编著.GPS相对定位的数学模型[M].北京:测绘出版社,1998
[64]吴江飞,王世忠.高精度GPS网平差随机模型的生成[J].测绘学院学报,2000,17(3):172-176
[65]吴江飞,杨元喜.相关GPS基线向量网的抗差估计[J].测绘学报,2001,30(3):247-251
[66]武汉大学测量平差编写组.测量平差基础[M].北京:测绘出版社,2003
[67]杨建图,姜衍祥等.GPS测量地面沉降的可靠性及精度分析[J].大地测量与地球动力学,2006,26(1):70-75
[68]杨铁军,黄顺吉等.一种新的GPS快速整周模糊度解算算法[J].信号处理,2002,18(5):460-463
[69]杨秀全.数据结构[M].西安:西安电子科技大学出版社,1999
[70]杨元喜,高为广.基于多传感器观测信息抗差估计的自适应融合导航[J].武汉大学学报·信息科学版,2004,29(10):885-888
[71]杨元喜,何海波,徐天河.论动态自适应滤波[J].测绘学报,2001,30(4):293-298
[72]杨元喜,张双成,高为广.GPS导航解算中几种非线性Kalman滤波的理论分析与比较[J].测绘工程,2005,14(3):4-7
[73]杨元喜.动态系统的抗差Kalman滤波[J].测绘学院学报,1997,14(2):79-84
[74]杨元喜.抗差估计理论及其应用[M].北京:八一出版社,1993
[75]姚宜斌,刘经南,陶本藻等.基于坐标模式的广义网平差模型研究[J].武汉大学学报·信息科学版[J].2006,31(1):16-18
[76]叶世榕.GPS非差相位精密单点定位理论与实现[D].武汉:武汉大学,2002
[77]曾安敏,张丽萍.多种序贯平差方法的比较[J].大地测量与地球动力学,2007,27(2):84-88
[78]张勤,黄观文,王利等.GPS在西安市地面沉降与地裂缝监测中的应用研究[J],工程地质学报,2007,15(6):828-833
[79]张勤,李家权.GPS测量原理及应用[M].北京:科学出版社,2005
[80]张勤,李家权.全球定位系统(GPS)测量原理及其数据处理[M].西安:地图出版社,2001
[81]张勤,陶本藻.GPS网应变强度分析与设计[J],测绘通报,1996,第1期:14-18
[82]张勤.GPS监测滑坡形变的基准研究[J].西安工程学院学报,2001(a),23(4):69-71
[83]张勤.GPS网坐标转换中的基准兼容性研究及GPS网质量分析[D],武汉测绘科技大学,1994
[84]张勤.非线性最小二乘理论及其在GPS定位中的应用研究[D].武汉:武汉大学,2002
[85]张双成,高为广.基于系统误差及其协方差阵拟合的抗差自适应滤波[J].地球科学与环境学报,2005,27(2):60-62
[86]张小红,鄂栋臣.用PPP技术确定南极Amery冰架的三维运动速度.武汉大学学报·信息科学版,2005,30(10):909-912
[87]张小红,刘经南,Rene Forsberg.基于精密单点定位技术的航空测量应用实践.武汉大学学报·信息科学版,2006,31(1):19-22
[88]赵庆海,田庆新.高精度GPS基线向量网平差[J].测绘学院学报,2002,19(3):168-173
[89]赵庆海.方差分量估价计简化公式在高精度GPS网平差中的应用[J].测绘通报,2001,(12):14-15
[90]赵庆海.方差分量估价计简化公式在高精度GPS网平差中的应用[J].测绘通报,2001,第12期:14-15
[91]郑作亚,程宗颐,黄城.对Blewitt周跳探测与修复方法的改进[J].天文学报,2005,46(2):216-224
[92]郑作亚. GPS数据预处理和星载GPS运动学定轨研究及其软件实现[D].上海:上海天文台,2005a
[93]周东卫,黄丁发,周乐韬.一种基于(9,-7)组合和卡尔曼滤波的参考站网络实时周跳探测新算法[J].工程勘察,2006,2007,11:66-70
[94]周江文,陶本藻,庄昆元等.拟稳平差论文集[C].北京:测绘出版社,1987
[95]周忠谟,易杰军.GPS卫星测量原理与应用[M].北京:测绘出版社,1997
[2] Alfred Leick.GPS Satellite Surveying[M].Hoboken:John Wiley & Sons,Inc,2004
[3] Axelrad,P, R.G.Brown. GPS Navigation Algorithms. In Global Positioning System: Theory and Applications [C], Progress in Astronautics and Aeronautics, Volume 1, Chapter 9. Eds.B.W. Parkinson, J.J. Spilker. Volume 164, American Institute of Aeronautics and Astronautics, Inc., V, Washington, D.C.,U.S.A
[4] Bona, P. Accuracy of GPS phase and Code Observations in Practice. Acta Geod.Geoph. Hung., 2000, 35(4),433-451
[5] Bona, P. Precision, Cross Correlation, and Time Correlation of GPS Phase and Code Observations [J]. GPS Solutions, 2000, 4(2),3-13
[6] EL-Rabbany, A. The Effect of Physical Correlations of the Ambiguity Resolution and Accuracy Estimation in GPS Differential Positioning [D]. The University of New Brunswick Fredericton, NB, 1994, Technical Report 170
[7] Geoffrey Blewitt. An Automatic Editing Algorithm for GPS Data [J]. Geo physical Research Letters, 1990, Volume 17, Issue 3, p. 199-202
[8] Hofmann-Wellenhof, B Lichtenegger, J Collins. GPS Theory and Practice [M]. Springer-Verlag, New York,2001
[9] IGS. http://sopac.ucsd.edu./cgi-bin/dbDataByDate.cgi. 2008.
[10] ITRF.http://itrf.ensg.ign.fr/GIS/.2008
[11] Kechine,M.O.,C.C.J.M.Tiberius,H.van der Marel. Experimental Verification of Internet-Based Global Differential GPS [J]. Proceedings of ION GPS 2003, Portland, Oregon, 24-27 September
[12] Kouba J, Héroux P. Precise Point Positioning Using IGS Orbit and Clock Products [J]. GPS Solution, 2002, 5(2):12-28
[13] Kouba, J., P.Heroux. GPS Precise Point Positioning Using IGS Orbit Products[J].GPS Solutions,2000, Vol.5,No.2
[14] Liu,X. A Comparison of Stochastic Models for GPS Single Differential KinematicsPositioning[C]. ION GPS 2001, 2001, Salt Lake City, UT, 11-14 September
[15] Tiberius, C.C.J.M.The GPS Data Weight Matrix: What Are the Issues[C]? National Technical Meeting Proceedings, 1999, San Diego, California, January 25-27
[16] Xu G.C. GPS-Theory, Algorithms and Applications. 2rd Edition. Springer-Verlag Berlin, 2007
[17] Xu G.C. GPS-Theory, Algorithms and Applications. Springer-Verlag Berlin,2003
[18] Yang Y.X. Robust Estimation for Dependent Observations [J]. Manuscripts Geodetics, 1994, 19:10-17
[19] YANG Yuanxi, GAO Weiguang. An optimal adaptive Kalman filter [J]. Journal of Geodesy,2006,80:177-183
[20] YANG Yuanxi, HE Haibo, XU Guochang. A New Adaptively Robust Filtering for Kinematic Geodetic Positioning [J]. Journal of Geodesy,2001,75(2):109-116
[21] YANG Yuan-xi, SONG Li-jie, Xu Tian-he. New Robust Estimator for the Adjustment of Correlated GPS Networks [A]. First International Symposium on Robust Statistics and Fuzzy Techniques in Geodesy and GIS[C]. Swiss Federal Institute of Technology Zurich, IGP-Bericht 2001, 295:199-208
[22] Zhang Q, Wang L, etc. The Datum Design Study of High Precision GPS Height Monitoring Network----with the Example of Monitoring Land Subsidence &Ground Fissure in XIAN City[J].IAIN/GNSS 2006,2006(1):229-234
[23] Zumberge J, Heflin M, Jefferson D. Precise Point Positioning for the Efficient and Robust Analysis of GPS Data from Large Networks[J]. Geophys.Res., 1997,102:5005-5017
[24]陈义.精密点定位技术和GPS掩星技术在CHAMP卫星中的应用研究[D].上海:同济大学,2004
[25]程佩青.数字信号处理教程[M].北京:清华大学出版社,1995
[26]戴吾蛟,丁晓利,朱建军等.基于经验模式分解的滤波去噪法及其在GPS多路径效应中的应用[J].测绘学报,2006,35(4):321-327
[27]丁克良,刘大杰,胡丛玮.GPS基线相关性对平差结果的影响[J].大地测量与地球动力学,2006,26(2):79-82
[28]高伟,徐绍铨,刘爱田,王超.GPS测量在城市地面沉降监测中的应用研究[J].山东农业大学学报(自然科学版),2004,35(3):395-400
[29]郭海荣.导航卫星原子钟时频特性分析理论与方法研究[D].解放军信息工程大学,2006
[30]国家质量技术监督局,全球定位系统(GPS)测量规范[S],2001
[31]郝明,欧吉坤,郭建锋等.一种加速精密单点定位收敛的新方法.武汉大学学报·信息科学版,2007,32(10):902-905
[32]郝明.加速GPS精密单点定位收敛的方法研究[D].武汉:中国科学院测量与地球物理研究所,2007
[33]黄德武,熊永良.基于小波分析的GPS多路径效应研究[J].工程勘察,2007(4):63-65
[34]黄观文,张勤,丁晓光等.一种高精度GPS基线网平差及软件研制[J].测绘科学,2009年第2期,待刊
[35]黄观文,张勤,许国昌等.基于频谱分析的IGS精密星历卫星钟差精度分析研究[J].武汉大学学报(信息科学版),2008,33(5):496-499
[36]黄维彬.近代平差理论及应用.北京:解放军出版社,1992
[37]贾沛璋,吴连大.单频GPS周跳检测与估计算法[M].天文学报,2001,42(2):192-197
[38]李洪涛,许国昌,薛鸿印等.GPS应用程序设计[M].北京:科学出版社,1999
[39]李清泉.陀螺经纬仪时间观测数据函数模型的研究[J].武汉测绘科技大学学报,1990,15(3):11-20
[40]李延兴,胡新康,赵承坤.GPS监测网数据处理方案研究[J].测绘学报,1999,28(1):62-66
[41]李征航,丁文武,李昭.GPS广播星历的轨道误差分析[J].大地测量与地球动力学,2008,28(1):50-54
[42]刘大杰,白征东.一种GPS网三维平差的数学模型[J].测绘学报,1997(a),25(2):176-180
[43]刘大杰,胡丛玮.应用GPS监测城市地表形变的初步分析[J].地壳形变与地震,1999,19(1):37-42
[44]刘大杰,施一民,余晓红.GPS技术用于监测大城市三维形变[J].同济大学学报,1997,25(2):176-180
[45]刘大杰,施一民,余晓红.城市GPS三维形变监测网的建立和数据处理[J].同济大学学报,1998,26(5):547-551
[46]刘大杰,陶本藻.GPS监测网形变分析基准和检验:GPS卫星定位的应用与数据处理[M].上海:同济大学出版社.1994,92-102
[47]刘焱雄,彭琳,周兴华等.网解和PPP解的等价性[J].武汉大学学报(自然科学版),2005,30(8):736-738
[48]刘忠,黄观文,丁晓光.GPS动态定位序贯平差统一模型[J].地球科学与环境学报,2008年第3期,待刊
[49]楼益栋,刘万科,张小红.GPS卫星星历的分析[J].测绘信息与工程, 2003,28(6):4-6
[50]欧吉坤,柴艳菊,袁运斌.自适应选权滤波[C].见:朱耀仲等编,大地测量与地球动力学进展.武汉:湖北科学技术出版社,2004,816-823
[51]欧吉坤.测量平差中不适定问题解的统一表达与选权拟合法[J].测绘学报,2004,33(4):283-288
[52]祁芳.卡尔曼滤波算法在GPS非差相位精密单点定位中的应用研究[D].武汉:武汉大学,2003
[53]任超,欧吉坤,袁运斌.自适应滤波在GPS高精度动态定位中的应用[J].自然科学进展,2005,15(7):876-881
[54]任超.GPS高精度定位理论及其在有轨载体定位中的应用[D].武汉:中国科学院测量与地球物理研究所,2004
[55]沈云中,傅晓明.固定转换参数的GPS网平差与坐标转换模型[J].同济大学学报,2004,32(5):652-655
[56]施闯.大规模高精度GPS网平差与分析理论及其应用[D].武汉:武汉测绘科技大学,1999
[57]施闯.大规模高精度GPS网平差与分析理论及其应用[M].北京:测绘出版社,2002
[58]宋文尧,张牙.卡尔曼滤波[M].北京:科学出版社,1991
[59]隋立芬,刘雁雨,王威.自适应序贯平差及其应用[J].武汉大学学报·信息科学版[J].2007,32(1):51-54
[60]隋立芬.高精度GPS网的统一与数据处理若干问题研究[D].郑州:信息工程大学,2001
[61]陶本藻.关于高精度GPS网平差基本观测量的选取问题[J].测绘通报,1999,第9期:6-8
[62]陶本藻.自由网平差与变形分析[M].武汉:武汉测绘科技大学出版社,2001
[63]魏子卿,葛茂荣编著.GPS相对定位的数学模型[M].北京:测绘出版社,1998
[64]吴江飞,王世忠.高精度GPS网平差随机模型的生成[J].测绘学院学报,2000,17(3):172-176
[65]吴江飞,杨元喜.相关GPS基线向量网的抗差估计[J].测绘学报,2001,30(3):247-251
[66]武汉大学测量平差编写组.测量平差基础[M].北京:测绘出版社,2003
[67]杨建图,姜衍祥等.GPS测量地面沉降的可靠性及精度分析[J].大地测量与地球动力学,2006,26(1):70-75
[68]杨铁军,黄顺吉等.一种新的GPS快速整周模糊度解算算法[J].信号处理,2002,18(5):460-463
[69]杨秀全.数据结构[M].西安:西安电子科技大学出版社,1999
[70]杨元喜,高为广.基于多传感器观测信息抗差估计的自适应融合导航[J].武汉大学学报·信息科学版,2004,29(10):885-888
[71]杨元喜,何海波,徐天河.论动态自适应滤波[J].测绘学报,2001,30(4):293-298
[72]杨元喜,张双成,高为广.GPS导航解算中几种非线性Kalman滤波的理论分析与比较[J].测绘工程,2005,14(3):4-7
[73]杨元喜.动态系统的抗差Kalman滤波[J].测绘学院学报,1997,14(2):79-84
[74]杨元喜.抗差估计理论及其应用[M].北京:八一出版社,1993
[75]姚宜斌,刘经南,陶本藻等.基于坐标模式的广义网平差模型研究[J].武汉大学学报·信息科学版[J].2006,31(1):16-18
[76]叶世榕.GPS非差相位精密单点定位理论与实现[D].武汉:武汉大学,2002
[77]曾安敏,张丽萍.多种序贯平差方法的比较[J].大地测量与地球动力学,2007,27(2):84-88
[78]张勤,黄观文,王利等.GPS在西安市地面沉降与地裂缝监测中的应用研究[J],工程地质学报,2007,15(6):828-833
[79]张勤,李家权.GPS测量原理及应用[M].北京:科学出版社,2005
[80]张勤,李家权.全球定位系统(GPS)测量原理及其数据处理[M].西安:地图出版社,2001
[81]张勤,陶本藻.GPS网应变强度分析与设计[J],测绘通报,1996,第1期:14-18
[82]张勤.GPS监测滑坡形变的基准研究[J].西安工程学院学报,2001(a),23(4):69-71
[83]张勤.GPS网坐标转换中的基准兼容性研究及GPS网质量分析[D],武汉测绘科技大学,1994
[84]张勤.非线性最小二乘理论及其在GPS定位中的应用研究[D].武汉:武汉大学,2002
[85]张双成,高为广.基于系统误差及其协方差阵拟合的抗差自适应滤波[J].地球科学与环境学报,2005,27(2):60-62
[86]张小红,鄂栋臣.用PPP技术确定南极Amery冰架的三维运动速度.武汉大学学报·信息科学版,2005,30(10):909-912
[87]张小红,刘经南,Rene Forsberg.基于精密单点定位技术的航空测量应用实践.武汉大学学报·信息科学版,2006,31(1):19-22
[88]赵庆海,田庆新.高精度GPS基线向量网平差[J].测绘学院学报,2002,19(3):168-173
[89]赵庆海.方差分量估价计简化公式在高精度GPS网平差中的应用[J].测绘通报,2001,(12):14-15
[90]赵庆海.方差分量估价计简化公式在高精度GPS网平差中的应用[J].测绘通报,2001,第12期:14-15
[91]郑作亚,程宗颐,黄城.对Blewitt周跳探测与修复方法的改进[J].天文学报,2005,46(2):216-224
[92]郑作亚. GPS数据预处理和星载GPS运动学定轨研究及其软件实现[D].上海:上海天文台,2005a
[93]周东卫,黄丁发,周乐韬.一种基于(9,-7)组合和卡尔曼滤波的参考站网络实时周跳探测新算法[J].工程勘察,2006,2007,11:66-70
[94]周江文,陶本藻,庄昆元等.拟稳平差论文集[C].北京:测绘出版社,1987
[95]周忠谟,易杰军.GPS卫星测量原理与应用[M].北京:测绘出版社,1997