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Carrier phase epoch difference and Doppler observation fusion speed measurement method

A technology of carrier phase and observation equation, which is applied in the field of satellite speed measurement, can solve the problems of large influence of carrier dynamic conditions and low precision, and achieve the effect of small change of carrier dynamic conditions, increase observation amount, and improve strength and redundancy

Pending Publication Date: 2020-08-07
NAT TIME SERVICE CENT CHINESE ACAD OF SCI
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Problems solved by technology

Its speed measurement accuracy is high, but it is greatly affected by the dynamic conditions of the carrier
The latter differentiates the carrier phase observation equation and relies on Doppler observations to build a model to directly measure speed. Its model is the most rigorous and is less affected by the dynamic conditions of the carrier, but its accuracy is lower than that of carrier phase epoch differential speed measurement.

Method used

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  • Carrier phase epoch difference and Doppler observation fusion speed measurement method
  • Carrier phase epoch difference and Doppler observation fusion speed measurement method
  • Carrier phase epoch difference and Doppler observation fusion speed measurement method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0045] Example: such as figure 1 As shown, a carrier phase epoch difference and Doppler observation fusion speed measurement method mainly includes the following steps:

[0046] S1: Data acquisition and processing

[0047] Obtain the original GNSS data of the observation satellite including carrier phase and Doppler observations and auxiliary products required for speed measurement data processing. The auxiliary products include GNSS satellite ephemeris products and earth rotation parameters,

[0048] Screen the obtained data to obtain clean data. The specific steps are: perform data quality inspection and gross error elimination on the carrier phase and Doppler observations obtained in S1, and delete data without satellite ephemeris or incomplete observations , while performing cycle slip detection and eliminating cycle slip data, and finally get clean data,

[0049]Perform error correction on the clean data. Error correction refers to the correction of relativity, satellit...

experiment example 1

[0075] Experimental Example 1: Static data is tested using carrier phase epoch differential speed measurement, Doppler speed measurement and fusion speed measurement methods

[0076] Measurement object: The static test selects the data of DOY084 in 2018 at the CCJ2 station of the international multi-system GNSS test station, the sampling interval is 1s, and the data duration is 24 hours.

[0077] Experimental conditions: The static data of CCJ2 station is used for simulated dynamic processing. Table 1 shows the RMS values ​​of the speed measurement results of the carrier phase epoch differential speed measurement, Doppler speed measurement and fusion speed measurement methods in the three directions of E, N and U.

[0078] Table 1 Statistics of the results of different speed measurement methods at CCJ2 station

[0079]

[0080]

[0081] Conclusion: It can be seen from the table that the accuracy of Doppler speed measurement is cm / s, while the accuracy of carrier phase ep...

experiment example 2

[0082] Experimental example 2: Studying the accuracy of the fusion speed measurement method under different motion states

[0083] Measurement target: The dynamic test selects the vehicle data on March 30, 2018. The test location is Beijing, the data period is 10:00-12:00, and the sampling interval is 1s. The vehicle is moving back and forth on a gentle road. The vehicle is moving at a constant speed, and when the vehicle is turning around, the speed changes, figure 2 Velocity and acceleration images when the vehicle is turning back and forth.

[0084] Experimental conditions:

[0085] 1. Taking the results of PPP speed measurement as a reference, image 3 The difference image between the three speed measurement methods and the PPP speed measurement results is given, and the RMS value is given. In the figure, DVE, TDVE, TD-DVE and PPPVE respectively represent Doppler speed measurement, carrier phase epoch differential speed measurement, fusion speed measurement and PPP Spe...

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Abstract

The invention provides a carrier phase epoch difference and Doppler observation fusion speed measurement method. The method specifically comprises the following steps of: S1, obtaining original GNSS data containing carrier phases and Doppler observation values and an auxiliary product required by speed measurement data processing, performing screening and error correction on the obtained data, andsubstituting the corrected data into a carrier phase positioning equation; S2, differentiating the corrected observation equation among epochs to obtain a carrier phase inter-epoch differential velocity measurement equation, and combining the carrier phase inter-epoch differential velocity measurement equation with a Doppler velocity measurement equation to construct a velocity measurement equation fusing different observation values; S3, determining a corresponding random model by adopting a step-by-step weighting method according to satellite altitude angles and observation noise; and S4, linearizing the observation equation, solving velocity through a least square algorithm X=(BTPB)-1 (BTPL).

Description

technical field [0001] The invention belongs to the technical field of satellite speed measurement, and in particular relates to a speed measurement method for fusion of carrier phase epoch difference and Doppler observation. Background technique [0002] GNSS carrier phase epoch differential speed measurement and Doppler observation speed measurement are two commonly used satellite speed measurement methods. In the former, the carrier phase observation value of the satellite is differentiated between epochs, and the displacement of the receiver is accurately estimated according to the geometric position relationship between the satellite and the receiver, and then the velocity is obtained. Its speed measurement accuracy is high, but it is greatly affected by the dynamic conditions of the carrier. The latter differentiates the carrier phase observation equation and relies on Doppler observations to construct a model to directly measure speed. Its model is the most rigorous ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/52G01S19/43
CPCG01S19/52G01S19/43
Inventor 涂锐卢晓春王星星张睿韩军强范丽红张鹏飞
Owner NAT TIME SERVICE CENT CHINESE ACAD OF SCI
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