GNSS World of China

2020 Vol. 45, No. 3

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GPS/BDS ARAIM algorithm performance test
WANG Jian, DONG Kailin, LIU Ruihua
2020, 45(3): 1-7. doi: DOI:10.13442/j.gnss.1008-9268.2020.03.001
Abstract:
Based on the measured data, this paper aims at the airworthiness of the Advanced Receiver Autonomous Integrity Monitoring (ARAIM) algorithm, and tests the performance of GPS/BDS ARAIM algorithm fault detection and elimination and the performance of availability prediction. The test results are as follows. The performance of ARAIM algorithm fault detection and elimination is good under the GPS/BDS combined system, and the efficiency of correct detection and elimination of step faults greater than 100m reaches 99.9%. In single point, the availability of ARAIM under the GPS/BDS combined system is good and fully meets the integrity performance requirements of the LPV-200. The availability coverage in China reaches 99%. The availability coverage in the world reaches more than 90%. So, the performance of GPS/BDS ARAIM algorithm is good.
Safety assessment of Micius satellite in orbit
JIANG Hu, DENG Lei, YU Jinpei
2020, 45(3): 8-10. doi: DOI:10.13442/j.gnss.1008-9268.2020.03.002
Abstract:
Micius satellite is one of the five space science pilot projects granted by the Chinese Academy of Sciences in 2011,which aims at establishing quantum experiment platform between space and Earth ground, and further carry out a series of quantum experiments in a large scale distance. As a science-devoted satellite, Micius satellite has made a greater advancement in the discipline of quantum communication at an advanced international level. These achievements made by Micius satellite are well known and focused worldwide. As of January 2019,Micius satellite reached its designed lifespan. However, there are a lot of planned extra experiments awaiting to be carried out, including some internationally cooperative experiments schedules. Safety of Micius satellite in orbit has become one of the most concerned foci. Based on space debris or space objects dataset, together with the given ephemeris of Micius satellite, simulations have been carried out during the period spanning Mar.17 and Mar. 24,2020 continuously. The possibilities of collision between Micius satellite and space debris or between Micius satellite and space objects are presented, including some other key parameters about space collision. Such simulations can provide very valuable supports for the operation team of Micius satellite.
Quick extraction and analysis of deformation information based on BDS similar-single-difference model
CHEN Peiwen, YU Xuexiang, ZHANG Hao
2020, 45(3): 11-15. doi: DOI:10.13442/j.gnss.1008-9268.2020.03.003
Abstract:
Aiming at the problem that the GPS similar-single-difference model cannot extract the large deformation information, this paper takes full advantage of the three-frequency signal broadcasted by the BeiDou full constellation, A method for quick extraction of deformation information with triple-frequency combination ambiguity resolution and similar-single-difference model based on BDS was studied. Experiments on the high-precision three-dimensional mobile testing platform show that the above method can quickly extract large deformation information. its accuracy is equivalent to that of GPS and can reach centimeter level.
The prediction accuracy of the MADOCA-LEX high rate clock products
GUO Sheng, ZHANG Shaocheng, LI Wei, DU Shikang
2020, 45(3): 16-21. doi: DOI:10.13442/j.gnss.1008-9268.2020.03.004
Abstract:
 The Japanese QZSS satellite will provide real-time PPP services by broadcasting the L-band augmentation signals with real time high rate GNSS precise orbit and clock corrections. This paper based on the 1Hz high rate GPS clock provided by JAXA MADOCA data center, we firstly evaluates the short-term stability of satellite clock corrections with Allan variance. To simulate the real time products latency, the first-order, second-order polynomials and grey model were used as the clock predictions model, and the fitting windows with 5, 10 and 30 s were used to predict the following 10 s clocks corrections. Over 21 continuous days data range from January 1 to 21 on 2020 were used on the clock stability analysis, the results show that the GPS clocks can reach 10-12with 1, 5 and 10 s intervals. On the prediction model comparison, a whole days analysis results show that, if less than 10 s fitting windows were used, the first-order linear model shows highest stability with accuracy less than 0.1 ns, and if the fitting windows were set to 30 s, the second-order polynomial model has the highest accuracy as the clock drift effects were taken into account. It can be concluded that the satellite clocks from MADOCA-LEX product could be precisely predicted to satisfy the real-time precise point positioning applications.
Analysis of GNSS data quality of smartphone
CHEN Chunhua, CHEN Chong, ZHAO Yazhi
2020, 45(3): 22-27. doi: DOI:10.13442/j.gnss.1008-9268.2020.03.005
Abstract:
The GNSS raw data observations are open for the Android system, and developers can directly obtain the GNSS raw observations through the API. In this paper, Xiaomi Mi 8 and Huawei P30 mobile phones are selected as the research objects. The original GNSS observation data output by the mobile phone is studied, and the data quality is analyzed from the aspects of multipath effects, data carrier-to-noise ratio. The experimental results show that compared with the measurement receiver, the original observation value of the Android smartphone is relatively low, and has serious multipath effect.
Data quality analysis of GNSS multi-system based on G-nut/Anubis
DONG Binbin, CHEN Guoheng, NIE Qingsen
2020, 45(3): 28-32. doi: DOI:10.13442/j.gnss.1008-9268.2020.03.006
Abstract:
Aiming at the problem of GNSS observation data quality analysis in surveying and mapping application research, this paper uses G-nut/Anubis to check the data availability, multipath effect, cycle slip ratio and other indicators of the quality of each station's GNSS system data, and output  visualization result for further analysis, and select good quality observation satellites to provide  reference for later data calculation.
The method of local area network timing based on BDS user terminal
LI Zhengwen, ZHANG Haitao, BAI Wenli
2020, 45(3): 33-36. doi: DOI:10.13442/j.gnss.1008-9268.2020.03.007
Abstract:
Based on application requirements of Local Area Network (LAN) timing, a scheme is designed based on BeiDou Navigation Satellite System(BDS) user terminal. With developed software, the UTC time is imported from the user terminal to LAN as a local reference time source. Then the UTC time of local equipment are unified by a LAN timing software. The test results show that the UTC timing accuracy can reach 200 ms, and the network timing accuracy is better than 500 ms.
Spoofing and anti-spoofing technology of  UAV in GNSS
WU Changke, HOU Qiang
2020, 45(3): 37-40. doi: DOI:10.13442/j.gnss.1008-9268.2020.03.008
Abstract:
Based on the characterisics of  UAV and its navigation system, the position and function of UAV in modern war are introduced, and the spoofing of GNSS under different working modes is analyzed.  The working principle and process of combination of suppression jamming and deception jamming are introduced. Finally, the anti-spoofing technologies such as suppression jamming and spoofing jamming are discussed.
Solution method of DGPS integer ambiguity based on ICSO
OU YANG Li, HUANG Cailun
2020, 45(3): 41-47. doi: DOI:10.13442/j.gnss.1008-9268.2020.03.009
Abstract:
Aiming at the problem of low efficiency and slow search in the DGPS ambiguity resolution process, adaptively improve the chicken swarm optimization(CSO) and apply the improved chicken swarm optimization(ICSO) to the fast search of the integer ambiguity, a Kalman filter is used to obtain the float solution and its covariance matrix of the double-difference ambiguity. The Lenstra-Lenstra-Lovasz (LLL) decorrelation algorithm is adopted to decorrelate the float solution and its covariance matrix, thus, the correlation of each ambiguity float estimation can be eliminated. With a fixed baseline length, ICSO is used to search the optimal solution of the integer ambiguity. Simulations are performed using classic examples, the results show that compared with the literature [5], the improved chicken swarm optimization can effectively improve the search speed and the success rate of the solution.
Stereo vision-aided GNSS navigation and positioning in harsh environments
FENG Yi, TU Rui, HAN Junqiang, HOU Furong, HONG Ju, LIU Jinhai, WANG Xingxing
2020, 45(3): 48-53. doi: DOI:10.13442/j.gnss.1008-9268.2020.03.010
Abstract:
The visual odometer can provide short-term and precise navigation and positioning in complex environments. GNSS has the characteristics of all-weather. global and  no accumulate error over time. But under the multipath effect of harsh environments, GNSS positioning accuracy will be worse or even unusable. In order to study the visual odometer-aided GNSS navigation and positioning technology in complex environments, the navigation positioning principle of the visual odometer is introduced firstly; then the GNSS positioning results and the visual odometer positioning results are loosely combined in a Kalman filter; utilizing the visual odometer positioning results and the predicted visual odometer positioning errors to achieve GNSS navigation positioning in harsh environments. The simulation verification results based on the KITTI data set show that the designed combined scheme can continuously provide reliable navigation and positioning in harsh environments.
Indoor fingerprint positioning method based  on RSSI modified by GF-KF
HAN Xuefa, WU Fei, ZHU Hai, YAN Song, HU Rui
2020, 45(3): 54-62. doi: DOI:10.13442/j.gnss.1008-9268.2020.03.011
Abstract:
Aiming at the problems that Wi-Fi signals are susceptible to external uncertainties such as noise, and the RSSI received by mobile terminals deviates from the true value, which results in low positioning accuracy, this paper proposes an indoor fingerprint positioning method based on RSSI modified by GF-KF. Because the collected RSSI is unstable, this method uses the characteristics of the RSSI like Gaussian distribution to perform a Gaussian fit on the RSSI data to obtain a relatively determined RSSI value. Based on this, a Kalman filter algorithm is introduced to correct the RSSI data after fitting, and the WKNN matching algorithm is used to locate. The experimental results show that the average positioning error of the method in this paper is 1.50 m, and the cumulative distribution probability of positioning errors within 2.0 m is 90.06%, and the positioning effect is better than similar methods.
Research on trajectory tracking control of semi-submersible unmanned vehicle navigation based on MPC
ZHANG Lizhen, GAO Hao, WU Di, LI Wei, LU Tianchen
2020, 45(3): 63-70. doi: DOI:10.13442/j.gnss.1008-9268.2020.03.012
Abstract:
Aiming at the problem of large tracking error in the navigation process of new semi-submersible unmanned aerial vehicle, a tracking control method based on MPC is proposed. In this paper, the motion model of the new semi-submersible is established, and based on the actual parameters, the MPC objective function and system constraints are constructed; The trajectory tracking problem of the semi-submersible is transformed into the optimal value problem; The control algorithm is simulated and analyzed by using the simulation software, and the navigation trajectory tracking test is carried out by using the satellite positioning equipment. The simulation and test results show that the MPC based trajectory tracking control method improves the tracking accuracy of the navigation trajectory of the semi-submersible unmanned vehicle, and the tracking accuracy is about 50% higher than the original PID control method.
A target tracking system using directional nodes in wireless sensor networks
BAI Qiuchan, ZHANG Haolun
2020, 45(3): 71-76. doi: DOI:10.13442/j.gnss.1008-9268.2020.03.013
Abstract:
To solve the node deployment problem of target tracking in wireless sensor networks (WSNs), a node deployment optimization algorithm based on k-target tracking is proposed. The algorithm considers the influence of k value, target radius, tracking angle, node communication radius and the shape of region of interest on the tracking performance of k targets. The region of interest is first divided into equilateral triangle, rectangle and hexagon models, and then the optimal side length and the tracking direction of nodes in these models are estimated. Then the location of the deployment node is estimated according to the optimal side length. Finally, according to these models, the minimum number of nodes required for k target tracking is realized. Experimental data show that the proposed algorithm can effectively track the target.
Comparison between SAMI2  TEC and GPS TEC in East Asia sector
HU Yanli, XU Tong, ZHU Mengyan, DENG Zhongxin
2020, 45(3): 77-82. doi: DOI:10.13442/j.gnss.1008-9268.2020.03.014
Abstract:
SAMI2 (Sami is Another Model of the Ionosphere) is a theoretical ionosphere model developed by the U.S. Navy Research Lab (NRL) which has been widely used in ionospheric research. In this paper, the total electron content ( TEC ) of ionosphere from SAMI2 and GPS at different latitudes in East Asia sector with different solar activities have been selected as a comparison to estimate the accuracy of SAMI2. The results show that the SAMI2 TEC  have same diurnal, seasonal and solar activity variations with GPS TEC . SAMI2 coincides better with the observation data in morning than in the afternoon. In the seasonal distribution, SAMI2 TEC  has small deviation from the observation in winter. The correlation coefficient between SAMI2 TEC  and GPS TEC  is above 0.87 at each station. In most cases, the SAMI2 overestimate the ionosphere TEC.
Analysis of ionospheric TEC  disturbances caused by typhoon Lekima based on IGS Data
SONG Fucheng, SHI Shuangshuang, SHI Yunfei, ZHOU Ruichen
2020, 45(3): 83-88. doi: DOI:10.13442/j.gnss.1008-9268.2020.03.015
Abstract:
In this paper we use the global GIM grid ionosphere data provided by IGS to investigate the ionospheric TEC disturbances induced by typhoon lekima in 2019. By means of the sliding interquartile range method, the temporal and regional spatial changes of the ionospheric TEC during typhoon Lekima were analyzed. It was found that the ionospheric TEC showed positive abnormal changes on the fifth day before the typhoon. On the second day after typhoon landing, the ionospheric TEC anomaly over the typhoon affected area changes from positive anomaly to negative anomaly and then changes to positive anomaly. The maximum value of positive anomaly reaches 8 TECU, and the maximum value of negative anomaly reaches 6 TECU. The maximum abnormal point does not coincide with the eye of the wind, but appears in the southwest region of the centre. This analysis suggests that this ionospheric TEC  disturbances may be related to the change of wind speed and direction during the landing of typhoon
Method and precision analysis of GPS/PWV sensing based on meteorological elements interpolation
SHEN Jianhua
2020, 45(3): 89-95. doi: DOI:10.13442/j.gnss.1008-9268.2020.03.016
Abstract:
Accurate acquisition of station pressure and temperature plays a vital role in the accuracy of GPS water vapor inversion, However, due to the differences in the development status of GPS continuous operation observation stations in various parts of China, A considerable part of the GPS weather station network is not equipped with pressure and temperature sensors, and failed to effectively collect accurate station pressure and temperature related data, Which has great influence on real-time acquisition of water vapor above the station, This paper proposes an inverse distance weighting method that increases altitude correction, and validates the method using GNSS weather station network data distributed throughout the country. Experimental results show that the accuracy of the pressure and temperature parameters obtained by this method meets the needs of water vapor solution. At the same time, the method mentioned in this article is compared with the GPT2 temperature and pressure model, which proves that the accuracy of the temperature and pressure parameters obtained in this paper is better than that of the GPT2 weather model.
Research on GNSS-R sea surface altimetry status and common methods
HU Yuan, CHEN Xingyang, GU Wangwang, ZHONG Licheng, LIU Wei
2020, 45(3): 96-103. doi: DOI:10.13442/j.gnss.1008-9268.2020.03.017
Abstract:
The Global Navigation Satellite System (GNSS) is not only used for navigation, positioning, speed measurement, and timing, etc. It can also be used for sea surface wind field and sea surface altitude retrieval since  its reflected signals can also be received. Global Navigation Satellite System-Reflection (GNSS-R) is a new research area for marine remote sensing. The GNSS-R technology has many signal sources with wide coverage and stable long-term operation. This article mainly introduces the research progress of GNSS-R marine remote sensing technology and sea surface altimetry, and it ranges from signal-to-noise ratio (SNR) data measurement method, C/A code phase measurement method, carrier phase measurement method, and carrierbased measurement method. The common methods of GNSS-R in sea level measurement are analyed and summarized .
Forestland extraction method of hyperspectral image combined with multi-feature HSV transform
CHEN Pengdi, HUANG Liang, XIA Yan, YANG Zenan
2020, 45(3): 104-109. doi: DOI:10.13442/j.gnss.1008-9268.2020.03.018
Abstract:
At present, the method of extraction forestland is mainly based on selecting samples by supervised or semi-supervised, and the efficiency is low. For this reason, this paper proposes a multi-feature HSV transform hyperspectral image forestland extraction method. We first performs relation correction processing of original remote sensing images.Then use the parameters of normalized vegetation index (NDVI) and principal component analysis (PCA) to obtain the composite images. Finally, HSV transform is used to extract forest land information through color segmentation of image by setting color value range. The results show that the extraction accuracy of the high-resolution forestland can reach 96.29%, and indicated the effectiveness of the method.
Verification of 3D reconstruction accuracy of tilt photogrammetry for consumer UAV
GONG Ke, DONG Zhenglan, WANG Yongju
2020, 45(3): 110-114. doi: DOI:10.13442/j.gnss.1008-9268.2020.03.019
Abstract:
Taking the urban data of a certain area in Xining as an example, firstly, the Sony ilce-6000 camera carried by the Pegasus D200 UAV is used to collect image data, and the match-at module of infor software is combined with context capture to build a real 3D model. Then, the overall adjustment of large area multi view tilt image data is realized by two adjustment methods of multi view tilt image data. Combined with the dense matching and texture automatic mapping algorithm of multi view tilt image, a high-precision real 3D model is constructed. Finally, through the experiment, the spatial three-dimensional accuracy and three-dimensional model accuracy statistics basically meet the requirements of 1:500 large-scale mapping, which provides a way of thinking for  the construction of high-precision three-dimensional model.
Analysis and research on application standards  of satellite navigation
DU Hui, CHEN Qian
2020, 45(3): 115-118. doi: DOI:10.13442/j.gnss.1008-9268.2020.03.020
Abstract:
This paper reviews the existing international standards, foreign standards and national standards in the field of satellite navigation application technology, analyzes the present status of international standards, foreign standards and national standards, compares the differences between domestic and foreign standards, and puts forward suggestions for the standardization of satellite navigation application industry in China.