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2018 Vol. 43, No. 2

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Robustness Analysis of Network RTK Interpolation Models

LI Ying, CHEN Mingjian, ZUO Zong, WANG Jianguang

2018, 43(2): 1-6. doi: 10.13442/j.gnss.1008-9268.2018.02.001

[Abstract](576) [PDF 662KB](77)

Abstract:
Modelling the spatial correlation error Accurately is the key of network RTK technology. Quantitative analysis of the interpolation models’ robustness is very important for the selection and optimization of network RTK interpolation models. The robustness of the interpolation model reflectingIn this paper, the existing interpolation models were studied, based on the law of error propagation, the concept of error impact factor is proposed to evaluate the robustness of the interpolation models. The theoretical and experimental methods were used to explore the spatial distribution characteristics of interpolation models’ robustness. The experimental results indicate that there is a great difference in the robustness of different interpolation models in spatial distribution, and inside the triangular cell, different interpolation models both meet the robustness requirements.

Analysis of Heading Correction Algorithm Based on Quaternion Method

QI Xiandong, GUO Ying, SUN Yuxi, JI Xianlei

2018, 43(2): 7-11. doi: 10.13442/j.gnss.1008-9268.2018.02.002

[Abstract](612) [PDF 530KB](74)

Abstract:
At present, the attitude solution for carrier has become a hot topic for precision navigation ofStrapdown Inertial Navigation System.In order to reduce the heading error caused by the drift of the gyro, an improved heading correction method based on Heuristic Drift Eliminationwas proposed. This method uses the quaternion to solve the carrier's heading, uses the pedestrian's heading angle deviation in the indoor environment to directly correct the pedestrian's heading, and then calculates the pedestrian heading trajectory.The experiment uses low-cost smart phones to compare and analyze the accuracy of different sampling frequencies and second-order Runge-Kutta method and fourth-order Runge-Kutta method to update the quaternion to solve the heading angle, it draw the conclusion that increasing the sampling frequency can reduce the heading error and improve the positioning accuracy.Experimental results show that this algorithm has certain reference value for navigation and positioning research.

Performance Analysis of Multi -GNSS Dynamic Precision Point Positioning

PAN Yuming, DING Lele, Meng Fanxiao, WANG Zhen

2018, 43(2): 12-19. doi: 10.13442/j.gnss.1008-9268.2018.02.003

[Abstract](721) [PDF 838KB](113)

Abstract:
Based on the theory and method of GPS precise point positioning, this paper introduced a PPP observation model with multiple system combinations. This paper used observations from GPS, GLONASS, Galileo and BDS to study and analyze the positioning performance of 4-system combined PPP. The result showed that the accuracy of multi-GNSS PPP is much higher than single system PPP, GPS+GLONASS+GALILEO+BDS combination dynamic PPP in the three directions of the average deviation is about 0.7cm, 0.6cm and 1.7cm, the convergence time is about 15 ～ 20min. When the cutoff elevation angle increased, there was still a sufficient number of satellites. When the cutoff angle reached 30 degrees, still can reach cm-level positioning accuracy. The result of PPP solution on the airborne dynamic data showed that the result of the foursystem combination solves best with the result of GrafMov, and outperforms of two-system and single-system PPP.

Study of Surface Movement and Deformation Prediction Based [JZ]on Adaptive Kalman Filtering

CHEN Changkun, JIAO Baowen, QIAO Fang, SHI Changwei, XIAO Ming, SU Di

2018, 43(2): 20-27. doi: 10.13442/j.gnss.1008-9268.2018.02.004

[Abstract](450) [PDF 857KB](45)

Abstract:
Construct a variance compensation adaptive Kalman filter forecasting model, using GNSS CORS to continuously run realtime monitoring data, and compare and analyze the predicted Kalman filtering value, the standard Kalman filter forecast value and the measured data, and obtain the adaptive Kalman filter forecasting bias. Obviously reduced, the accuracy of forecasting has been significantly improved, which meets the accuracy requirements for real-time monitoring of surface movement deformation.

Comparison and Analysis of Ionospheric Delay Correction Methods Based on BeiDou GEO

(中国民航大学, 电子信息与自动化学院, 天津300300)

2018, 43(2): 33-39. doi: 10.13442/j.gnss.1008-9268.2018.02.006

[Abstract](620) [PDF 1191KB](112)

Abstract:
Ionospheric delay is the most important factor affecting the accuracy of navigation and positioning. The BeiDou satellite navigation system uses the Klobuchar model to correct the ionospheric delay error of single frequency receiver users. For dual frequency receivers, the ionospheric delay value can be calculated by using pseudo range observations data of different frequency signals.. In order to compare the correction effect of ionospheric delay of two methods in Tianjin area, the satellite measured data collected by NovAtel GPStation6 receiver (GNSS Ionospheric Scintillation and TEC Monitor Receiver) are used to calculate. Taking the global ionosphere grid data published by the International GNSS Service (IGS) as a reference, the correction effect of the two methods are compared and analyzed. The results show that in the Tianjin area, the ionospheric delay calculated by the dual frequency observations is more accurate than the Klobuchar model, and the average daily correction is 82.11％ of IGS, 9.48％ higher than that of Klobuchar model.

Analysis of the Troposphere Delay Effect in Navigation System

ZHANG Jiehan, YANG Xiangyu, DU Quancheng, LI Shuang

2018, 43(2): 40-43. doi: 张洁寒 E-mail:1085178269@qq.com[HT]

[Abstract](91) [PDF 990KB](55)

Abstract:
Improving the positioning accuracy of satellite navigation system has always been one of the efforts of researchers in the field, and the tropospheric delay correction as the error source of satellite system positioning accuracy has always been the focus of the study. Aiming at the problem of tropospheric delay in the BeiDou satellite system developed by our country, firstly, according to the two kinds of radio propagation effects caused by the tropospheric refraction error, that is, the slowdown of the wave propagation velocity caused by the atmosphere and the bending of the radio waves, The error of refraction caused by satellite positioning. Secondly, the refractive error is calculated by the typical measured sounding data and ray tracing method, and the contribution of the two effects to the tropospheric refraction error is obtained. It is proved that the refraction error caused by the bending of the radio wave can be neglected when the satellite height angle is greater than 5 degrees, and the effect of the wave velocity slowing effect can be avoided only by considering the atmospheric refractive index in the tropospheric delay correction. However, when the satellite elevation angle is less than 5 degrees, two kinds of radio propagation effects must be considered to avoid the refraction error.

System Time and Satellite Clock for New-generation BeiDou Satellites: Preliminary Results

WU Yunjie, WANG Xianglei

2018, 43(2): 44-48. doi: 10.13442/j.gnss.1008-9268.2018.02.008

[Abstract](443) [PDF 557KB](66)

Abstract:
Five new-generation BeiDou Satellite Navigation System (BDS) satellites, including two satellites in the Inclined Geostationary Orbit (IGSO) and three satellites in the Medium Orbit (MEO), have completed deployment on 1st February 2016. The mission of the five new-generation satellites is to validate the new system designs and the new technologies that will successfully expand BDS’s Positioning, Navigation and Timing (PNT) services from regional to global. Responsible to keep time and frequency standards that are used to generate navigation signals, atomic clocks are important payloads onboard BDS satellites. Using data from BDS’ two-way satellite time and frequency transfer system, this paper evaluates performance of those new generation atomic clocks (Hydrogen Maser and Rubidium). Compared to the regional operational satellites onboard atomic clocks, the prediction accuracy of the new-generation onboard atomic clocks is improved. The short-term prediction error of IGSO satellites drops from 0.65 ns to 0.30 ns, the shortterm prediction error of MEO satellites drops from 0.78 ns to 0.32 ns, and both the media-term prediction error of both IGSO and MEO satellites drops from 2.50 ns to 1.50 ns. Time frequency system is an important part of the ground movement control of the new generation test system, which is responsible for the generation and maintenance of the time frequency signal of the new generation test system. Using the data from the new generation test system time and UTC(BSNC), this paper evaluates performance of system time in new generation test system, compared to the regional system time, the performance of new generation test system time is improved, the 1000s stability and day stability compared to the regional system improve about half an order. Central-distributed time and frequency system is the key technology in the new generation test system. Using the two-way data from center note and frontier node, this paper evaluates performance of frontier node time in new generation test system. Results show that the center note frontier note are in good consistent, with the largest value of 0.23 ns.

Research on Navigation Information Confrontation of GNSS

LI Junzheng, ZHANG Lundong, CONG Dianwei, CHEN Ke

2018, 43(2): 49-53. doi: 10.13442/j.gnss.1008-9268.2018.02.009

[Abstract](655) [PDF 550KB](192)

Abstract:
The successful application of satellite navigation has a profound impact on the operational mode under the modern information-based condition. The information confrontation effect on the satellite navigation has great influence on the future war. Study on the scheme of GNSS navigation information confrontation and need to solve the key technical problems and the related technology test using satellite navigation signal simulator, GNSS receiver, integrated navigation equipment.Meaningful results are obtained, providing a reference for the navigation information Confrontation.

Time Synchronization Mechanism for Locata Positioning System

CHEN Jianxiong, PENG Liangfu, HUANG Qinzhen

2018, 43(2): 54-59. doi: 10.13442/j.gnss.1008-9268.2018.02.010

[Abstract](689) [PDF 715KB](119)

Abstract:
Locata system is a newtype of high-precision foundation positioning system. It can be not only seamlessly connected with the existing Global Satellite Navigation System (GNSS), but also provide the positioning service independently when the satellite signal fails. The positioning accuracy of Locata system can reach centimeter level, and its key technology is high-precision (nanosecond level) time synchronization technology. In this paper, by analyzing the positioning principle of Locata system and studying its unique time synchronization technology, the time synchronization mechanism of the system and its technical implementing scheme are described in detail, and the specific process and steps for time synchronization are also given. This study can provide a reference for China's development of foundation pseudo satellite positioning system.

Analysis of the Influence of Electromagnetic Interference on the Positioning Accuracy of Electromagnetic Pulse Detection System

LIU Ming, MIAO Jiayou, SHEN Yu, LIU Yiwen

2018, 43(2): 60-64. doi: 10.13442/j.gnss.10089268.2018.02.011

[Abstract](327) [PDF 457KB](99)

Abstract:
With the development of industry, the electromagnetic interference is becoming more and more frequent. Some kinds of interference signals will affect the normal use of the electromagnetic pulse detection system. Computer simulation analysis has been carried out in this paper to reveal the influence of electromagnetic interference on the positioning accuracy. The results can be used on designation of electromagnetic pulse detection system, and it will be very useful to improve the reliability of such system.

Analysis on the Characteristics of GPS Precipitable Water Vapor During Heavy Rainfall

JIN Xin, SHI Kun, CHEN Yunbo, LI Jiantao

2018, 43(2): 65-71. doi: 10.13442/j.gnss.1008-9268.2018.02.012

[Abstract](430) [PDF 732KB](117)

Abstract:
Aiming at the problem that due to the easy variability of water vapor in the atmosphere and the lack of the high temporalspatial resolution water vapor data, the forecast level of the storm is not high. The accuracy of GPS water vapor retrieval is analyzed and discussed. Using the data of CORS in Hong Kong, the time series of 1 hour atmospheric precipitable water vapor can be obtained by GAMIT software, and then compare it with the PWV obtained from sounding data and actual precipitation. The results show that: GPS／PWV and Radio／PWV has a very good consistency in the overall trend of change, and the correlation coefficient is greater than 09. The accuracy of GPS／PWV is matched with PWV obtained from sounding data, and the mean deviation is less than 1mm, and the root mean square error is less than 3mm. The atmospheric precipitable water vapor from GPS has a good correspondence with the actual precipitation,can accurately monitor the process of water vapor change and can be used for monitoring and forecasting water vapor.

The Construction of the Empirical Model of the Tropopause Height with the Method of Robust Covariance Estimation

WU Han, LIU Jinhong

2018, 43(2): 72-78. doi: doi:10.13442/j.gnss.1008-9268.2018.02.013

[Abstract](249) [PDF 650KB](60)

Abstract:
The tropopause has a strong correlation with latitude, and have the periodic changes with the seasons at the same time. The COSMIC radio occultation data from 2008 to 2010 are used to obtain tropopause height at worldwide occultation events by the method of robust covariance estimation. With time and latitude as independent variables, eventually established a tropopause global experience model. The influence of tropopause on wet delay is discussed based on the data of 28 sounding stations distributed globally and based on the Hopfield wet delay model related to tropopause. The results show that the established empirical model of tropospheric top is helpful to improve the calculation precision of wet delay, about 0～15 mm.

Application in BeiDou Satellite Clock Offset Real-time Determination with Epoch Differential Model

DAI Taogao, ZHAO Jing, WANG Zilong

2018, 43(2): 79-83. doi: doi:10.13442/j.gnss.1008-9268.2018.02.014

[Abstract](334) [PDF 535KB](95)

Abstract:
Satellite clock offset is an important error source affecting the positioning accuracy, and real-time precise point positioning requests satellite clock updated in real time. The Satellite clock offset can be calculated by epoch difference model and non-difference model. Compared to eliminating ambiguity parameters of epoch difference model, nondifference model covers so many carrier phase ambiguity parameters that its computational efficiency is much slower. Epoch difference model can work out epoch difference of satellite clock offset with high accuracy only using carrier phase observation, and the restored satellite clock offset can retain a certain level. Using epoch difference model can realize real-time solution of Beidou satellite clock offset. The experimental results show that the accuracy of satellite clock offset difference between near epoch by the filter is better than 0.02 ns, and the restored satellite clock offset accuracy is better than 0.25 ns.

The Analysis and Comparision of Clock Error Prediction Models

WANG Xianglei

2018, 43(2): 84-90. doi: 10.13442/j.gnss.1008-9268.2018.02.015

[Abstract](315) [PDF 558KB](74)

Abstract:
In this paper, several common clock error prediction models are studied, the calculation models are derived in detail, and the calculation process of the models parameter is also given. The comparative analysis of several cases of clock error prediction model based on BLOCK IIRM satellite clock is made. The results show that the prediction using the polynomial model, Chebyshev polynomial, with the increase of observation the amount of data used, whether short or medium and long term forecast, the forecast effect will not change. By using the grey system model we need the less observation dataand can improve the speed of modeling. The accuracy is significantly improved. It has obvious advantages on the prediction of satellite clock error, the observation data, forecast period the satellite.

Application of BeiDou Satellite System in Direct Drive Type Wave Power

WANG Shiming, TIAN Yuan

2018, 43(2): 91-95. doi: 10.13442/j.gnss.1008-9268.2018.02.016

[Abstract](394) [PDF 534KB](105)

Abstract:
The flexible floating power generating equipment, which is developed independently by Shanghai Ocean University, is an ocean power generating equipment with independent intellectual property rights and promising prospects for transformation. Power plants in distant sea need unattended for a long time due to its location away from the mainland., so it is very important to monitor the parameters of power generation equipment. In this paper, a remote monitoring system designed for flexible floating power generation equipment is designed. By means of BeiDou communication system, remote real-time monitoring can be realize+0d, and the real-time status of equipment can be effectively monitored and controlled, providing a reference for improving the controllability of offshore power generation equipment.

Development of GNSS Observation Achievement Supervision System

ZHANG Haizhong, XIE Zhiyue, ZHANG Yuliang, ZHANG Weimin

2018, 43(2): 96-99. doi: 谢志越E-mail:xiezhiyue125@163.com

[Abstract](265) [PDF 432KB](100)

Abstract:
Aiming at the supervision work of massive GNSS observations product data, this paper designed and implemented a set of GNSS observation achievement supervision system with automatic data checking, quality assessment, supervision report generation and statistical analysis of quality elements; The system development platform, database, model checking, quality grade, supervision report and statistical analysis were briefly descripted, and the key technologies used in the system were also introduced.Through application of the system in the work, the use of methods and process of the system were elaborated and the conclusion was finally come that the system can greatly improve work efficiency of GNSS observation achievement supervision and the objectivity of quality assessment.

The Application of RTK for GPS+BDS System in Geographical Information Collection System on Remote-controlledvehicles

HAO Guoxin, LUO Min

2018, 43(2): 100-103. doi: 10.13442/j.gnss.1008-9268.2018.02.018

[Abstract](436) [PDF 513KB](112)

Abstract:
GPS-RTK as a method of improving positioning accuracy in Global Positioning System (GPS) measurement technology has been widely promoted and used. Nowadays, BeiDou satellite navigation system (BDS) has been built regional-navigation constellation.BDS has been officially provided for continuous passive positioning, navigation, timing and other services. However, due to the shortcomings of BDS single constellation positioning, resulting in low positioning accuracy. So multi-frequency multi-system integration navigation and positioning has become a new hot spot for navigation and positioning research. This paper introduces RTK technology and the application of double-difference RTK in GPS+BDS system. It also points out the advantages of double-difference RTK in geographical information collection system and the problems in practical application. It provides some useful reference value for similar engineering applications.

The Design and Implementation of the Modern Surveying and Mapping Datum Data Integrated Service Platform Based on the BeiDou

LIU Xingwei, XU Chaoqian, TANG Hui, WANG Jing, WU Guoliang

2018, 43(2): 104-107. doi: 10.13442/j.gnss.1008-9268.2018.02.019

[Abstract](387) [PDF 536KB](78)

Abstract:
Beidou satellite navigation and positioning technology has brought new opportunities for the development of the new generation of modern surveying and mapping standards in China, and is of great significance for improving the modern service ability of Surveying and mapping standards. Based on the Beidou satellite navigation and positioning technology and the existed modern surveying and mapping infrastructure, the paper introduces regional modern surveying and mapping reference system for application service key technologies based on Beidou, build the integrated service platform of modern surveying and mapping benchmark data, it provides a reference for other areas to play the role of Beidou in the application service of modern surveying and mapping.

Efficient Application of GPS Data Preprocessing Based on TEQC

ZHANG Haiping, KONG Zhaolong, JIANG Yingming, ZHOU Maosheng, GAO Shimin, XU Yang

2018, 43(2): 109-114. doi: 10.13442/j.gnss.1008-9268.2018.02.020

[Abstract](413) [PDF 592KB](104)

Abstract:
In this paper, the data preprocessing modules unificate.py and qualitycheck.pyhave been added to TEQC, which are achieved by Python. The two modules provide GPS RINEXdata standardization and quality check functions with batch processing, high efficiency, crossplatform and results reliable features. The original observation data are used formodules test. As the results shows, data preprocessing efficiency and convenience have beenlargely improved. What's more, after preprocessing, the observation data are further processed byGAMIT／GLOBK software. Compared to baseline solution results without preprocessing, the accuracy hasgreatly improved due to the two additional modules.

Application of TEQC in Data Processing of Modern Surveying and Mapping Datum Systemin Shenyang

TAI He

2018, 43(2): 115-118. doi: 10.13442/j.gnss.1008-9268.2018.02.021

[Abstract](399) [PDF 403KB](41)

Abstract:
Combining the specific engineering practice of modern surveying and mapping reference system in Shenyang, using Net language to encapsulate the TEQC software package to give it the ability of batch data processing, then use it to solve the constellation selection, conversion, editing and quality analysis of largescale project data.