全球定位系统

2022 Vol. 47, No. 2

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2022, 47(2)

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2022, 47(2): 1-2.

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Inversion of shipborne meteorological sensor height above water surface based on GNSS carrier-to-noise ratio

QIU Zhijin, HU Tong, ZOU Jing, LI Zhiqian, WANG Bo

2022, 47(2): 1-6. doi: 10.12265/j.gnss.2021101301

[Abstract](282) [FullText HTML] (95) [PDF 2810KB](86)

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The height of shipborne meteorological sensor above water surface is a necessary parameter to predict the atmospheric refractive index profile by using the bulk aerodynamical method, which is of great significance to the radio meteorological parameter monitoring systems such as evaporation duct monitoring system. The Global Navigation Satellite System (GNSS) carrier-to-noise ratio (CNR) is extracted from the shipborne GNSS receiver output. The coherence of GNSS direct signal and reflected signal from water surface is analyzed using Lomb Scargle Periodogram to retrieve the height of the GNSS antenna phase center above reflection surface, and then the height of shipborne meteorological sensor is calculated indirectly. The proposed method was verified by barge experiments. Based on the statistics of the effective inversions, the sea state influence on the inversion results as well as the time-averaged variation of the inversion results is analyzed. It shows that the height of shipborne meteorological sensor can be effectively retrieved.

Analysis of GNSS landslide geological hazard monitoring data processing strategy based on CORS reference station

LIU Xingwei, CAI Hua, PU Dexiang, WANG Bin

2022, 47(2): 7-12. doi: 10.12265/j.gnss.2021101302

[Abstract](473) [FullText HTML] (68) [PDF 2075KB](107)

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In order to give full play to the resource advantages of continuously operating reference stations (CORS) in the field of landslide geological hazard monitoring, the deformation monitoring data processing strategy based on CORS reference station is analyzed, the effects of observation value type, calculation time and baseline length on monitoring accuracy are evaluated, and the coverage of CORS reference station as monitoring reference is given, It provides important data support for promoting the in-depth application of CORS in deformation monitoring.

Multi-GNSS clock combination with satellite attitude correction

MAO Shuyin, WEI Na, WEN Qiang, YAN Zhe

2022, 47(2): 13-20. doi: 10.12265/j.gnss.2021111801

[Abstract](399) [FullText HTML] (91) [PDF 2906KB](39)

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International GNSS Service (IGS) has been continuously providing high-precision combined GPS orbit and clock products, which is widely used in various scientific research and operational applications. However, with the prosperity of Global Navigation Satellite System (GNSS), combination strategies of multi-GNSS (GPS, GLONASS, Galileo and BDS) products is now urgently needed. Besides, due to the coupling relationship between satellite attitudes and clocks, the clock consistency during combination can be further improved by considering attitude differences. Therefore, we proposed a multi-GNSS clock combination strategy considering attitude correction. It is found that GPS clock combination residuals can be reduced by 80% at most after applying attitude correction. Additionally, we conducted static and kinematic positioning for 142 globally distributed stations using the combined products. Compared to the products provided by a single analysis center, the GPS/GLONASS/Galileo combined products are more stable and can improve the positioning quality up to 22.7%, 16.7% and 18.3% for the three components during kinematic positioning. Adding attitude corrections during clock combination can improve the kinematic positioning accuracy up to 65.3% at a single station.

Application of moving horizon estimation method for altitude constrained pseudo-range single-point positioning

SUN Shuguang, YANG Xiangyuan, CHEN Wantong, ZHANG Julian, LIU Qing, REN Shiyu

2022, 47(2): 21-26, 89. doi: 10.12265/j.gnss.2021092601

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In order to improve the positioning performance of pseudo-range single-point positioning (SPP) technology in Global Navigation Satellite System (GNSS), a moving horizon estimation (MHE) algorithm with height constraint was proposed. On the basis of adding height as nonlinear constraint to SPP parameter estimation, constrained MHE algorithm is used to improve the accuracy of SPP. Experiments show that compared with the least squares (LS) method, the MHE filter based on high constraint has better smoothing performance, and the effectiveness and feasibility of MHE scheme with additional height constraints are verified. The results obtained are of great significance to the practical application of SPP.

Practice and discussion on integration transformation of satellite positioning continuous operation reference station network in Hefei

ZHANG Wei, WANG Lin

2022, 47(2): 27-31. doi: 10.12265/j.gnss.2021112402

[Abstract](348) [FullText HTML] (63) [PDF 3323KB](28)

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Aiming at the problem that three sets of continuously operating reference stations (CORS) systems in Hefei operate independently and the benchmark framework and service standards are not unified, A unified satellite positioning continuous operation benchmark station network in Hefei is established in order to serve natural resources and planning better. This paper discusses the deep integration construction of reference station, the upgrading of system software and hardware, the compatibility with existing software and hardware, networking design, and the practice of CORS benchmark framework coordinate joint measurement and expansion service. A variety of shared integration technologies are comprehensively used to verify the correctness and feasibility of the method through field measurement, which has a good reference significance for the integration transformation of urban CORS.

Inversion of groundwater reserves changes in Queensland by GRACE

NAI Jin, WEI Changshou, TENG Lei, ZHAO Yueyao

2022, 47(2): 32-37. doi: 10.12265/j.gnss.2021071602

[Abstract](375) [FullText HTML] (72) [PDF 2430KB](25)

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Queensland is the second largest state in Australia. Monitoring and analysis of changes in groundwater reserves in this region this of great practical significance to the formulation of local ecological environment and water management policies, The time-varying gravity field model from gravity recovery and climate experiment (GRACE) issued by the University of texas center for space research (CSR) and the global land data assimilation system (GLDAS) surface assimilation model are used to monitor and analyze the temporal and spatial changes of groundwater reserves in Queensland, which are then verifled and analyzed with measured well data and global precipitation climatology project (GPCP) rainfall data. The research results show that the groundwater increassd at a rate of 1.3±0.09 cm/a in Queensland was approximately in 2003 to 2015. There is also a significant spatial difference between the east and the west. The comparison with the GPCP rainfall data shows that the rainfall is the main factor affecting the change of groundwater reserves, The comparison with the measured data of the water well reveals that the change trend of the underground inversion result is basically consistent with that of the water level of the well.

Application of sliding generalized extension interpolation method in GLONASS precise clock correction

HUA Xirui

2022, 47(2): 38-43. doi: 10.12265/j.gnss.2021101308

[Abstract](334) [FullText HTML] (108) [PDF 2137KB](11)

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In the interpolation of satellite clock data, the accuracy of interpolation algorithm directly affects the accuracy of satellite clock interpolation results, which affects the accuracy of satellite navigation and positioning. Therefore, an appropriate interpolation method should be selected when interpolating satellite clock data. In this paper, the Lagrange interpolation method and Chebyshev fitting method are used for sliding, these two traditional interpolation methods and sliding generalized extension interpolation method are used to interpolate the GLONASS clock error data with an epoch interval of 5 min into 30 s. Results are compared with the precision clock error data of 30 s. The application effect of the three interpolation methods in GLONASS satellite clock error data is analyzed. The obtained results show that the interpolation accuracy of these three interpolation methods can meet the requirements of GLONASS satellite clock data interpolation, and the sliding generalized extension interpolation method has the highest interpolation accuracy.

Research on orbit fitting and forecasting accuracy of different orbit types’ LEO satellites

TAN Liqing, PENG Qi, CAO Yang, YANG Xin, TANG Shuai, LIU Jun

2022, 47(2): 44-51. doi: 10.12265/j.gnss.2021083101

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The accuracy of low earth orbit (LEO) satellite orbits directly affects the application areas of LEO satellites, so it’s very meaningful and necessary work so as to study appropriate models to improve the fitting/forecasting accuracy of LEO satellite orbit. The fitting/forecasting accuracy of sliding Chebyshev polynomial and Kriging algorithm in different types of LEO orbits were studied in this paper, the results show that: both algorithms can obtain millimeter-level interpolation accuracy with a suitable fitting strategy. Compared to the sliding Chebyshev fitting algorithm, the spatial error distribution of the kriging algorithm fitting orbit is more concentrated, and it does not fluctuate sharply with the change of epoch. The prediction accuracy of the Kriging algorithm is lower than the sliding Chebyshev polynomial. When the Kriging algorithm is used to forecast 60 seconds, the forecasting accuracy can reach 1 to 2.5 m. While the sliding Chebyshev polynomial’s forecasting accuracy of 120 seconds is better than 5 m in each LEO satellite.

Weighted positioning method based on RSSI probability distribution and Bayesian estimation

NIE Dawei, ZHU Hai, WU Fei, HAN Xuefa

2022, 47(2): 52-59. doi: 10.12265/j.gnss.2021080902

[Abstract](211) [FullText HTML] (34) [PDF 3047KB](21)

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Aiming at the problem that the traditional Wi-Fi positioning technology based on distance measurement does not consider the distribution characteristics of received signal strength indication (RSSI) values, which may result in poor indoor positioning results, this paper proposes a weighted positioning method based on RSSI probability distribution and Bayesian estimation. On the basis of studying the stationarity and distribution characteristics of RSSI. The method introduces the prior RSSI probability distribution into to the calculation of weight through Bayesian estimation. It can also give lower weights to outliers go as to reduce the impact of environmental noise and external uncertain factors on the positioning accuracy, then the position with the largest weight will be taken as the positioning result. Experimental results show that compared with results of trilateral localization, weighted centroid localization and weight correction algorithm, the average error of this method is reduced by 45.4%, 14.6%, 8.2%, and the error of cumulative probability within 50% is reduced by 66.7%, 42.1%, 32.4%.

Availability analysis for ionospheric gird model in China areas under multi-GNSS observations

WANG Huafeng, ZHANG Yanru, CAI Hongtao, GUO Shan

2022, 47(2): 60-65. doi: 10.12265/j.gnss.2021050602

[Abstract](395) [FullText HTML] (91) [PDF 4118KB](37)

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While multi-Global Navigation Satellite System (GNSS) observation make it possible for a better performance of ionospheric model for Space Based Augmentation System (SBAS), the potential improvement depends on various factors. The paper analyzes the availability of ionospheric grid model for SBAS covering China and around areas under multi-GNSS scenarios. The results show that the covering area of grid model could be extended with multi-GNSS measurements. But for southern China, where equatorial ionolization anomaly (EIA) exists, the performance improves marginally as the increased observations cannot counter effectively the EIA’s serious impacts on grid model. In northern China, the ionosphere varies smoothly and multi-GNSS observations are helpful to reduce the number of sites while maintains the system performance.

The analysis of ground deformation about Qinghai Maduo M7.4 earthquake based on GNSS

LI Kang, JIANG Guangwei, GAO Chunwei, WANG Zushun, GAO Xinyan, DANG Yinqun

2022, 47(2): 66-72. doi: 10.12265/j.gnss.2021081803

[Abstract](336) [FullText HTML] (112) [PDF 3386KB](29)

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On May 22, 2021, Beijing time, an M7.4 earthquake occurred in Maduo, Qinghai province, which affected the regional stations. In this paper, we collected high-frequency observation data of Global Navigation Satellite System (GNSS) continuously operating reference stations (CORS) in Qinghai Province , which is less than 400 km from the epicenter. Using International GNSS Service (IGS) stations and China continental tectonic environment monitoring network as reference stations, static and dynamic models were used to analyze the three-dimensional surface deformation after the earthquake. The results show that, the displacement magnitude of the site shows a trend of attenuation as the epicenter distance increases. Among them, the Jiangduo station, which is about 35 km away from the epicenter, produces a permanent displacement of 28.0 cm to the south east. On the whole, the impact of the earthquake on the focal area within 100 km is shown as a strike-slip motion, which is consistent with the focal mechanism. The regional motion characteristics are generally shown as extensional-compression motion, NW-SE extension and NE-SW compression.

Path planning of intelligent aircraft based on linear matrix inequality

SHEN Tiantian, YUAN Simin, WU Fang, CHEN Zhongxiang, YU Guo

2022, 47(2): 73-81. doi: 10.12265/j.gnss.2021083103

[Abstract](488) [FullText HTML] (240) [PDF 2619KB](33)

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Intelligent aircraft plays an increasingly important role in a variety of applications. The aircraft's position accuracy while arriving at the application scenery is required. And it necessitates the flight's trajectory planning with appropriate position corrections due to the accumulated position errors that usually occur during the flight. To this end, this paper proposes a trajectory planning method for an intelligent aircraft working in some complex conditions, where an linear matrix inequality (LMI)-based optimizing method is utilized to achieve the dual goal of minimum correction times and minimum travel length. According to the number of available correction points and their different influences on the aircraft position, a triangular variable matrix with 0-1 entries is first designed to represent a flight trajectory that starts from point A, traverses a series of correction points in a target-oriented manner without any repetition, and ultimately arrives at the target point. After that, several other compulsory constranits are imposed on the trajectory-related matrix's variable entries, all of these constranits are later transformed and imposed on the previously defined variable matrix as a whole. The LMI-based optimizing method is performed to achieve the dual goal. Simulational results validate the proposed trajectory planning method and demonstrate its remarkable performance in the sense of less computing resources and optimization results, compared with many other optimization methods such as linear pro-gramming.

Ridge estimation method for linearized general EIV adjustment model

WENG Ye, SHAO Desheng, GAN Shu

2022, 47(2): 82-89. doi: 10.12265/j.gnss.2021083001

[Abstract](262) [FullText HTML] (106) [PDF 2345KB](11)

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As a general form of classical adjustment model, general errors-in-variables (EIV) adjustment model has the advantage of taking into account multiple random errors. Based on the linear estimation of the weighted total least squares of the general EIV adjustment model, the regularization criterion is introduced. When the regularization matrix is the unit matrix, it is called the ridge estimation. The objective function is then added. By establishing the minimization solution of the Lagrange objective function, the ridge estimation solution corresponding to the weighted general EIV adjustment model is derived. The U curve method and L curve method for determining ridge parameters are given. The linear estimation, two ridge estimations and their corresponding variance components of the general EIV adjustment model are calculated. It is validated that ridge estimation can promote the linearization estimation of general EIV model, reduce the times of iterations, make the parameter variance component more stable and reduce the calculation of parameter estimation.

Time series nonlinear deformation removal of GNSS coordinates based on ICEEMDAN and environmental load

WANG Yong, CAO Huipeng, LI Suo, YAN Yong, YANG Jun

2022, 47(2): 90-98. doi: 10.12265/j.gnss.2021092602

[Abstract](386) [FullText HTML] (104) [PDF 3812KB](22)

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Nonlinear deformation affects Global Navigation Satellite System (GNSS) coordinate timing accuracy. In this paper, improved complete ensemble empirical mode decomposition with adaptive noise (ICEEMDAN) method and environmental load correction are combined to study the nonlinear deformation removal of GNSS stations. Firstly, use GMIS software to complete the GNSS coordinate timing and remove the gross error. Then use ICEEMDAN method to decompose the GNSS coordinate timing, and use the permutation entropy algorithm to select the high frequency components containing noise and nonlinear deformation. Finally, the environmental load is used to remove the high-frequency components, and the removal effect is compared with the empirical mode decomposition (EMD) method and the environmental load method. The research results show that the root mean squared (RMS) of GNSS coordinate time series after nonlinear deformation removal changes different, and the up (U) direction is the most obvious, with the maximum value of 6.715 mm, followed by the E direction and the north (N) direction. After combining ICEEMDAN met-hod and environmental load,the nonlinear deformation in N direction was weakened 75% of the nonlinear deformation in east (E) direction was weakened, and 62.5% of the nonlinear deformation in U direction was weakened. The correction effect was better than the combination of EMD method and environmental load.

Analysis of network RTK precision of grid high precision satellite navigation and positioning service method

WU Haile

2022, 47(2): 99-103. doi: 10.12265/j.gnss.2021102201

[Abstract](379) [FullText HTML] (69) [PDF 2558KB](32)

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This paper introduced the grid high precision satellite navigation and positioning service method, which improved the virtual reference station (VRS) method. And analyzed the impact of different virtual grid resolutions to the network real time kinematic (RTK) precision. The performance test was then proceed using the normal grid resolution in the knimatic application to analyze the knimatic network RTK precision. Result shows that the network real time kinematic RTK precision will degrad as the distance increases. The precision of the 2′×2′ and 4′×4′ virtual grid resolutions is nearly the same and both wthin centimeter level, which means that 4′×4′ virtual grid resolution can be as a regular selection, so as to meet the requirements of calculation and positioning accuracy of centimeter level for relatively ficed virtual grid point. In addition, results under the condition of regular grid resolution show that the extent of the horizontal direction residual sequence of the knimatic application is the centimeter level, and the height direction residual sequence is the decimeter level. So that the regular grid resolution can fulfil the requirements of the vehicle dynamic applications.

A BDS-based millimeter-level foundation pit wall displacement monitoring and early warning system

PAN Jundao, CAI Haoyuan, LIU Zhenyao, WU Chunqiu, ZHANG Bangfu, YANG Bin, LIU Fengmin, ZHAO Shenglin

2022, 47(2): 104-109. doi: 10.12265/j.gnss.2021110801

[Abstract](420) [FullText HTML] (86) [PDF 2805KB](41)

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Aiming at the potential safety hazards caused by the horizontal displacement and settlement of the building's foundation pit wall and the foundation pit slope during the construction of the building, a monitoring system for the displacement of the foundation pit wall is designed. The BeiDou Navigation Satellite System (BDS) observation data is collected regularly by measuring points and combined on the server. The reference station data sequence is used to process the displacement monitoring data of each monitoring point. Finally, the Shewhart mean value control chart is used. When the displacement of the measuring point exceeds the threshold, the system will give an alarm. The measuring point will give a set of measured values every 60 minutes, which is quasi-static. The test results show that the system can achieve a precision of 5 mm in the east (E) direction; 4 mm in the north (N) direction; and 9 mm in the up (U) direction for monitoring.

BeiDou satellite clock error prediction based on optimal weight combination method

ZHAO Jinxia, ZHANG Xiaoning

2022, 47(2): 110-113, 125. doi: 10.12265/j.gnss.2021101309

[Abstract](263) [FullText HTML] (80) [PDF 2227KB](30)

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In view of the lack of research on BeiDou satellite clock error prediction, this paper constructs a new combined prediction model based on grey model and neural network model. The combined clock error prediction model effectively combines the advantages of two single models through the optimal weight method to realize the short-term prediction of Beidou clock error. Finally, Taking the atomic clock data carried by the three types of Beidou satellites as an example, the weight of each single model is calculated, and the short-term prediction of clock error is realized by constructing the optimal weight prediction model. The prediction results are better than the two single models, which proves the effectiveness and applicability of the combined prediction model in the short-term prediction of clock error.

Accuracy assessment of BDS-3 satellite signal-in-space

LIU Dongliang, CHENG Fang, SHEN Pengli, LI Yanhong, LI Xiaowan

2022, 47(2): 114-125. doi: 10.12265/j.gnss.2021112201

[Abstract](747) [FullText HTML] (241) [PDF 8944KB](99)

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Aiming at the accuracy of the signal-in-space after BeiDou-3 (BDS-3) is officially opened, The paper selected one-year Global Navigation Satellite System (GNSS) mixed broadcast ephemeris data (from August 1st, 2020 to July 31st, 2021) and used the precision orbit and clock offset provided by the German Potsdam Geoscience Research Center (GFZ) and International Global Navigation Satellite System Service (IGS) data center of Wuhan as reference to evaluate the accuracy of the BDS-3 signal-in-space. The research showed the orbit accuracy of the BDS-3 is better than 0.100 m, 0.405 m, and 0.547 m in the radial, along-track, and cross-track respectively, and the clock error accuracy is better than 1.926 ns, and SISRE statistical accuracy only affected by the orbit error is 0.134 m, and signal-in-space range error (SISRE) statistical accuracy is 0.612 m. SISRE of the geostationary orbit (GEO) satellites is 1.137 m. Compared with the GEO satellites, and SISRE of the inclined geosynchronous orbit (IGSO) satellites and the medium earth orbit (MEO) satellites are reduced by 36.3% and 51.3% respectively.

Research on key technologies of location service based on BeiDou ground based augmentation systems

DU Zhongjin

2022, 47(2): 126-132. doi: 10.12265/j.gnss.2021101304

[Abstract](336) [FullText HTML] (138) [PDF 2447KB](49)

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Based on the resources of provincial BeiDou ground based augmentation systems, this paper combines the production needs of natural resources industry, carries out research on key technologies such as “virtual grid technology” and “location service response technology of large-scale concurrent users” based on space-time information technology, and develops the location service platform of Fujian BeiDou ground based augmentation system. It integrates the functions of system operation and maintenance, public service, achievement display and data sharing, improves the level and ability of public service, and meets the demand of large-scale real-time location service.

Analysis on the earth rotation parameters under different means

CHEN Shaojie, GAO Yuping, SHI Chunlin, YIN Dongshan, WANG Qihong, CHEN Yongtao

2022, 47(2): 133-138. doi: 10.12265/j.gnss.2021101305

[Abstract](254) [FullText HTML] (59) [PDF 2472KB](39)

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With the use of various space geodetic methods such as very long baseline interferometry (VLBI), satellite laser ranging (SLR), lunar laser ranging (LLR), Global Navigation Satellite System (GNSS), Doppler orbitograph and radio positioning integrated by satellite (DORIS), etc., the measurement accuracy of earth rotation parameters (ERP) has been continuously improved. It provides high-precision conversion parameters between the International Celestial Reference System (ICRS) and the International Terrestrial Reference System (ITRS) for many fields such as spacecraft navigation and deep space exploration.This article mainly uses the C04 sequence published by the International Earth Rotation and Reference System Service as the basic sequence, the 500 days ERP sequence was selected and the error distribution of the ERP data obtained by different measurement methods was analyzed. It provides data basis for studying the feasibility and accuracy level of accuracy checking by using the consistency between different data, and also provides more data options for ERP forecasts.