GLONASS频间码偏差实时估计方法及其在RTK定位中的应用

doi:10.11947/j.AGCS.2022.20200416

摘要/Abstract

摘要： GLONASS伪距频间偏差难以利用经验模型消除。在RTK定位解算中，尤其是需顾及大气延迟的中长距离异质基线，IFCB会降低模糊度收敛速度，甚至导致模糊度固定错误。本文基于双差HMW组合和消电离层组合，提出一种站间IFCB实时估计算法，实时获取各频段的非组合站间单差IFCB。试验结果表明，站间IFCB长期稳定，可达数个纳秒；在GPS/GLONASS观测值先验误差比值为3：5的条件下，未改正的IFCB可能导致基线GPS/GLONASS组合RTK定位性能比单GPS差。将本文提出算法应用于RTK定位，能够有效消除IFCB的影响，RTK模糊度浮点解精度、定位收敛速度和固定率都有明显改善，部分基线的RTK定位首次固定时间从9.2 s提高到2.1 s，固定解比率从84.5%提高到97.9%。

关键词: GLONASS, 站间IFCB实时改正, GPS/GLONASS组合RTK

Abstract: It is difficult to eliminate GLONASS inter frequency code bias (IFCB) by empirical model.In RTK positioning, especially for medium and long-distance heterogeneous baselines that need to take into account atmospheric delay, IFCB will reduce the convergence rate of ambiguity, and even cause incorrect ambiguity solutions.In this paper, a real-time estimation algorithm of inter-station IFCB is proposed. The new algorithm origins from the classical double differenced Hatch-Melbourne-Wübbena (HMW) combination and ionospheric free combination, can obtain precise IFCB after a short period of filtering. The experiment results show that IFCB between stations may up to several nanoseconds and are stable for a long time. As a ratio 3:5 of the prior error of GPS/GLONASS observations, the uncorrected IFCB may cause the performance of GPS/GLONASS RTK positioning worse than that of single GPS. The proposed algorithm can effectively mitigate the negative influence of IFCB, including the accuracy of ambiguity floating solutions, the convergence speed and fixed rates of RTK positioning results. For some baselines, the time to first fixed of RTK positioning accelerate from 9.2 s to 2.1 s, and the fixed solution ratios enhance from 84.5% to 97.9%.

Key words: GLONASS, IFCB real time correction, GPS/GLONASS combined RTK

中图分类号:

P228

徐龙威, 吴忠望, 董绪荣. GLONASS频间码偏差实时估计方法及其在RTK定位中的应用[J]. 测绘学报, 2022, 51(2): 169-181.

XU Longwei, WU Zhongwang, DONG Xurong. A real-time estimating algorithm of GLONASS inter-frequency code bias and its application in RTK[J]. Acta Geodaetica et Cartographica Sinica, 2022, 51(2): 169-181.

参考文献

[1] WANNINGER L, WALLSTAB-FREITAG S. Combined processing of GPS, GLONASS, and SBAS Code phase and carrier phase measurements[C]//Proceedings of 2011 International Technical Meeting of the Satellite Division of the Institute of Navigation.[S.l.]:Fort Worth Press, 2007:866-875.
[2] REUSSNER N, WANNINGER L. GLONASS inter-frequency biases and their effects on RTK and PPP carrier-phase ambiguity resolution[C]//Proceedings of Inter-national Technical Meeting of the Satellite Division of the Institute of Navigation. Portland, Oregon, USA:[s.n.], 2011, 10(1):712-716.
[3] SLEEWAGEN J, SIMSKY A, WILDE W, et al. Demystifying GLONASS inter-frequency carrier phase biases[J]. Inside GNSS, 2012, 7(3):57-61.
[4] GENG J, ZHAO Q, SHI C, et al. A review on the inter-frequency biases of GLONASS carrier-phase data[J]. Journal of Geodesy, 91(3), 329-340. DOI:10.1007/s00190-016-0967-9.
[5] WANNINGER L. Carrier-phase inter-frequency biases of GLONASS receivers[J]. Journal of Geodesy, 2012, 86(2):139-148.
[6] BANVILLE S, COLLINS P, LAHAYE F. GLONASS ambiguity resolution of mixed receiver types without external calibration[J]. GPS Solutions, 2013, 17(3):275-282. DOI:10.1007/s10291-013-0319-7.
[7] GENG J, BOCK Y. GLONASS fractional-cycle bias estimation across inhomogeneous receivers for PPP ambiguity resolution[J]. Journal of Geodesy, 2015, 90(4):379-396. DOI:10.1007/s00190-015-0879-0.
[8] JIANG W, AN X, CHEN H, et al. A new method for GLONASS inter-frequency bias estimation based on long baselines[J]. GPS Solutions, 2017, 21(4):1765-1779. DOI:10.1007/s10291-017-0652-3.
[9] TIAN Y, GE M, FRANK N, et al. Improvements on the particle-filter-based GLONASS phase inter-frequency bias estimation approach[J]. GPS Solutions, 2018, 22(5):1771-1780. DOI:10.1007/s10291-018-0735-9.
[10] 隋心,徐爱功,郝雨时,等.实时GLONASSS相位频间偏差粒子群优化估计方法[J]. 测绘学报,2018,47(5):584-591. DOI:10.11947/j.AGCS.2018.20170391. SUI Xin, XU Aigong, HAO Yushi, et al. Real-time estimation method for GLONASS phase inter-frequency bias based on particle swarm optimization[J]. Acta Geodaetica et Cartographica Sinica, 2018, 47(5):584-591. DOI:10.11947/j.AGCS.2018.20170391.
[11] HAUSCHILD A, MONTENBRUCK O. A study on the dependency of GNSS pseudorange biases on correlator spacing[J]. GPS Solutions, 2014, 18(2):159-171. DOI:10.1007/s10291-014-0426-0.
[12] YAMADA H, TAKASU T, KUBO N, et al. Evaluation and calibration of receiver inter-channel biases for RTK-GPS/GLONASS[C]//Proceedings of ION GNSS 2010, Portland, Oregon, USA:[s.n.], 2010:1580-1587.
[13] SHI C, YI W, SONG W, et al. GLONASS pseudorange inter-channel biases and their effects on combined GPS/GLONASS precise point positioning[J]. GPS Solutions, 2013, 17(4):439-451.
[14] 刘志强,王解先,段兵兵. 单站多参数GLONASS码频间偏差估计及其对组合精密单点定位的影响[J]. 测绘学报, 2015, 44(2):150-159. DOI:10.11947/j.AGCS.2015.20130800. LIU Zhiqiang, WANG Jiexian,DUAN Bingbing. Estimation of GLONASS code inter- frequency biases with multiple parameters based on a single station and its impaction on combined precise point positioning[J]. Acta Geodaetica et Cartographica Sinica, 2015, 44(2):150-159. DOI:10.11947/j.AGCS.2015.20130800.
[15] 徐龙威,刘晖,舒宝,等. GLONASS频间码偏差特性分析及其在宽巷模糊度固定中的应用[J]. 测绘学报, 2018, 47(4):465-472. DOI:10.11947/j.AGCS.2018.20170430. XU Longwei, LIU Hui, SHU Bao, et al.Characteristics of GLONASS inter-frequency code bias and its application on wide-lane ambiguity resolution[J].Acta Geodaeticaet Cartographica Sinica, 2018, 47(4):465-472. DOI:10.11947/j.AGCS.2018.20170430.
[16] LIU Y, GE M, SHI C, et al. Improving integer ambiguity resolution for GLONASS precise orbit determination[J]. Journal of Geodesy, 2016, 90(8):715-726.
[17] AL-SHAERY A, ZHANG S, RIZOS C. An enhanced calibration method of GLONASS inter-channel bias for GNSS RTK[J]. GPS Solutions, 2013, 17(2):165-173.
[18] CHEN L, LI M, HU Z, et al. Method for real-time self-calibrating GLONASS code inter-frequency bias and improvements on single point positioning[J]. GPS Solutions, 2018, 22(4). DOI:10.1007/s10291-018-0774-2.
[19] MONTENBRUCK O, STEIGENBERGER P, PRANGE L, et al. The multi-GNSS experiment (MGEX) of the international GNSS service (IGS)-achievements, prospects and challenges[J]. Advances in Space Research, 2017, 59(7):1671-1697.
[20] ZHANG X, HE X, LIU W. Characteristics of systematic errors in the BDS Hatch-Melbourne-Wübbena combination and its influence on wide-lane ambiguity resolution[J]. GPS Solutions, 2017, 21(1):265-277.
[21] XU L, LIU H, SHU B, et al. GLONASS real-time wide-lane ambiguity resolution with an enhanced geometry-based model for medium-range baselines[J]. Advances in Space Research, 2018, 62(9):2467-2479.
[22] BÖHM J, MÖLLER G, SCHINDELEGGER M, et al. Development of an improved empirical model for slant delays in the troposphere (GPT2w)[J]. GPS Solutions, 2014, 18(3), 433-441. DOI:10.1007/s10291-014-0403-7.
[23] FAN H. A two-step estimation method of troposphere delay with consideration of mapping function errors[J]. Journal of Geodesy and Geoinformation Science, 2020, 3(1):76-84. DOI:10.11947/j.JGGS.2020.0108.
[24] BRUYNINX C, LEGRAND J, FABIAN A, et al. GNSS metadata and data validation in the EUREF permanent network[J]. GPS Solutions, 2019, 23(4):106. DOI:10.1007/s10291-019-0880-9.
[25] 李敏. 多模GNSS融合精密定轨理论及其应用研究[D].武汉:武汉大学,2011. LI Min. Research on multi-GNSS precise orbit determination theory and application[D]. Wuhan:Wuhan University, 2011.
[26] TEUNISSEN P.J.G. The least-squares ambiguity decorrelation adjustment:a method for fast GPS integer ambiguity estimation[J]. Journal of Geodesy, 1995(70):65-82.
[27] LI X, LV H, MA F, et al. GNSS RTK positioning augmented with large LEO constellation[J]. Remote Sensing, 2019, 11(3):228.