There are a number of ionospheric models available for research and application, such as the polynomial model, generalized trigonometric series function model, low degree spherical harmonic function model, adjusted sp...There are a number of ionospheric models available for research and application, such as the polynomial model, generalized trigonometric series function model, low degree spherical harmonic function model, adjusted spherical harmonic function model, and spherical cap harmonic function analysis. Using observations from more than 40 continuously operating stations across Antarctica in 2010, ifve models are compared with regard to their precision and applicability to polar regions. The results show that all the models perform well in Antarctica with 0.1 TECU of residual mean value and 2 TECU of root mean square error.展开更多
The conventional Kalman filter（CKF）is widely used in tightly-coupled INS/GPS integrated navigation systems.The linearization accuracy of the CKF observation model is one of the decisive factors of the estimation acc...The conventional Kalman filter（CKF）is widely used in tightly-coupled INS/GPS integrated navigation systems.The linearization accuracy of the CKF observation model is one of the decisive factors of the estimation accuracy and therefore navigation accuracy.Additionally,the conventional observation model（COM）used by the filter may be divergent,which would result into some terrible accuracies of INS/GPS integration navigation in some cases.To improve the navigation accuracy,the linearization accuracy of the COM still needs further improvement.To deal with this issue,the observation model is modified with the linearization of the range and range rate equations in this paper.Compared with COM,the modified observation model（MOM）further considers the difference between the real user position and the position calculated by SINS.To verify the advantages of this model,INS/GPS integrated navigation simulation experiments are conducted with the usage of COM and MOM respectively.According to the simulation results,the positions（velocities）calculated using COM are divergent over time while the others using MOM are convergent,which demonstrates the higher linearization accuracy of MOM.展开更多
In the paper, the kinematic model of tectonic blocks in southwest China is studied based on the precision GPS observations carried out under the major subject of 'Studies on Current Crustal Movement and Geodynamic...In the paper, the kinematic model of tectonic blocks in southwest China is studied based on the precision GPS observations carried out under the major subject of 'Studies on Current Crustal Movement and Geodynamics' which belongs to the State Climbing Project. It is believed that at present, the data of high precision GPS observation may provide convincing information related to the horizontal movement of tectonic blocks in the Chinese mainland. The preliminary results obtained from the kinematic model have given some direct evidences for the research of dynamic mechanism of crustal deformation in the Chinese mainland and on the basis of which, the kinematic characteristics and their relations to the seismicity and seismic risk in the reobserved region are analysed. The preliminary observation results are encouraging.展开更多
In precise GPS measurement, one of the largest error sources is the correction for atmospheric refraction. It has become important to study the atmospheric refraction theory, to establish a more practical model, and t...In precise GPS measurement, one of the largest error sources is the correction for atmospheric refraction. It has become important to study the atmospheric refraction theory, to establish a more practical model, and to derive a precise correction formula. In this paper the theory of atmospheric refraction was studied in depth, a new atmospheric model was established, and a new and more precise correction formula for refraction was derived.展开更多
An Extended Kalman Filter（EKF） is commonly used to fuse raw Global Navigation Satellite System（GNSS） measurements and Inertial Navigation System（INS） derived measurements. However, the Conventional EKF（CEKF） s...An Extended Kalman Filter（EKF） is commonly used to fuse raw Global Navigation Satellite System（GNSS） measurements and Inertial Navigation System（INS） derived measurements. However, the Conventional EKF（CEKF） suffers the problem for which the uncertainty of the statistical properties to dynamic and measurement models will degrade the performance.In this research, an Adaptive Interacting Multiple Model（AIMM） filter is developed to enhance performance. The soft-switching property of Interacting Multiple Model（IMM） algorithm allows the adaptation between two levels of process noise, namely lower and upper bounds of the process noise. In particular, the Sage adaptive filtering is applied to adapt the measurement covariance on line. In addition, a classified measurement update strategy is utilized, which updates the pseudorange and Doppler observations sequentially. A field experiment was conducted to validate the proposed algorithm, the pseudorange and Doppler observations from Global Positioning System（GPS） and Bei Dou Navigation Satellite System（BDS） were post-processed in differential mode.The results indicate that decimeter-level positioning accuracy is achievable with AIMM for GPS/INS and GPS/BDS/INS configurations, and the position accuracy is improved by 35.8%, 34.3% and 33.9% for north, east and height components, respectively, compared to the CEKF counterpartfor GPS/BDS/INS. Degraded performance for BDS/INS is obtained due to the lower precision of BDS pseudorange observations.展开更多
基金supported by the National Natural Science Foundation of China(Grant nos.41174029,41204028,41231064)the Open Research Fund of Key Laboratory for Polar Science of SOA(Grant no.KP201201)+1 种基金the Chinese Polar Environment Comprehensive Investigation and Assessment Programsthe Science and Technology Project of NASMG(Grant name Polar Geomatics Technology Test)
文摘There are a number of ionospheric models available for research and application, such as the polynomial model, generalized trigonometric series function model, low degree spherical harmonic function model, adjusted spherical harmonic function model, and spherical cap harmonic function analysis. Using observations from more than 40 continuously operating stations across Antarctica in 2010, ifve models are compared with regard to their precision and applicability to polar regions. The results show that all the models perform well in Antarctica with 0.1 TECU of residual mean value and 2 TECU of root mean square error.
基金Supported by the National Natural Science Foundation of China(61502257,41304031)
文摘The conventional Kalman filter（CKF）is widely used in tightly-coupled INS/GPS integrated navigation systems.The linearization accuracy of the CKF observation model is one of the decisive factors of the estimation accuracy and therefore navigation accuracy.Additionally,the conventional observation model（COM）used by the filter may be divergent,which would result into some terrible accuracies of INS/GPS integration navigation in some cases.To improve the navigation accuracy,the linearization accuracy of the COM still needs further improvement.To deal with this issue,the observation model is modified with the linearization of the range and range rate equations in this paper.Compared with COM,the modified observation model（MOM）further considers the difference between the real user position and the position calculated by SINS.To verify the advantages of this model,INS/GPS integrated navigation simulation experiments are conducted with the usage of COM and MOM respectively.According to the simulation results,the positions（velocities）calculated using COM are divergent over time while the others using MOM are convergent,which demonstrates the higher linearization accuracy of MOM.
文摘In the paper, the kinematic model of tectonic blocks in southwest China is studied based on the precision GPS observations carried out under the major subject of 'Studies on Current Crustal Movement and Geodynamics' which belongs to the State Climbing Project. It is believed that at present, the data of high precision GPS observation may provide convincing information related to the horizontal movement of tectonic blocks in the Chinese mainland. The preliminary results obtained from the kinematic model have given some direct evidences for the research of dynamic mechanism of crustal deformation in the Chinese mainland and on the basis of which, the kinematic characteristics and their relations to the seismicity and seismic risk in the reobserved region are analysed. The preliminary observation results are encouraging.
基金This paper was supported by the project of "Establishment of Capital Circle GPS Crustal Deformation Monitoring Network.
文摘In precise GPS measurement, one of the largest error sources is the correction for atmospheric refraction. It has become important to study the atmospheric refraction theory, to establish a more practical model, and to derive a precise correction formula. In this paper the theory of atmospheric refraction was studied in depth, a new atmospheric model was established, and a new and more precise correction formula for refraction was derived.
基金co-supported by the National Key Research and Development Program of China(No.2016YFC0803103)Beijing Advanced Innovation Center for Future Urban Design(No.UDC2016050100)Beijing Postdoctoral Research Foundation
文摘An Extended Kalman Filter（EKF） is commonly used to fuse raw Global Navigation Satellite System（GNSS） measurements and Inertial Navigation System（INS） derived measurements. However, the Conventional EKF（CEKF） suffers the problem for which the uncertainty of the statistical properties to dynamic and measurement models will degrade the performance.In this research, an Adaptive Interacting Multiple Model（AIMM） filter is developed to enhance performance. The soft-switching property of Interacting Multiple Model（IMM） algorithm allows the adaptation between two levels of process noise, namely lower and upper bounds of the process noise. In particular, the Sage adaptive filtering is applied to adapt the measurement covariance on line. In addition, a classified measurement update strategy is utilized, which updates the pseudorange and Doppler observations sequentially. A field experiment was conducted to validate the proposed algorithm, the pseudorange and Doppler observations from Global Positioning System（GPS） and Bei Dou Navigation Satellite System（BDS） were post-processed in differential mode.The results indicate that decimeter-level positioning accuracy is achievable with AIMM for GPS/INS and GPS/BDS/INS configurations, and the position accuracy is improved by 35.8%, 34.3% and 33.9% for north, east and height components, respectively, compared to the CEKF counterpartfor GPS/BDS/INS. Degraded performance for BDS/INS is obtained due to the lower precision of BDS pseudorange observations.
