基于北斗三号卫星非差多普勒观测信号的优化测速模型

doi:10.11959/j.issn.1000-0801.2021267

电信科学 ›› 2021, Vol. 37 ›› Issue (12): 42-50.doi: 10.11959/j.issn.1000-0801.2021267

基于北斗三号卫星非差多普勒观测信号的优化测速模型

王泽杰¹, 王潜心¹, 商天文²

¹ 中国矿业大学环境与测绘学院，江苏徐州 221116
² 国网物资有限公司，北京 100054

修回日期:2021-12-10 出版日期:2021-12-20 发布日期:2021-12-01
作者简介:王泽杰（1994- ），男，中国矿业大学环境与测绘学院硕士生，主要研究方向为卫星定位导航
王潜心（1980- ），男，博士，中国矿业大学环境与测绘学院教授，主要研究方向为卫星定位导航、大地测量数据处理、卫星遥感
商天文（1994- ），男，现就职于国网物资有限公司，主要研究方向为供应链运营
基金资助:
国家重点研发计划项目(2020YFA0713502);国家自然科学基金资助项目(41874039)

Optimal velocity estimation model based on non-differential Doppler observations from BDS-3 satellites

Zejie WANG¹, Qianxin WANG¹, Tianwen SHANG²

¹ School of Environment and Spatial Informatics, China University of Mining and Technology, Xuzhou 221116, China
² State Grid Materials Co., Ltd., Beijing 100054, China

Revised:2021-12-10 Online:2021-12-20 Published:2021-12-01
Supported by:
The National Key Research and Development Program of China(2020YFA0713502);The National Natural Science Foundation of China(41874039)

摘要/Abstract

摘要：

针对运动载体速度估计方法精度不足、模型复杂等问题，提出了一种精度高、模型复杂度低的基于北斗三号卫星非差多普勒观测信号的优化测速模型。该模型利用北斗三号卫星原始数据，使用复杂度低的多普勒测速模型估计载体速度。为提高测速精度和解算效率，首先对原始模型线性化处理，然后依据载体航向与其速度矢量的相关性增加松约束。用北斗三号卫星实测数据验证了该模型的测速精度，评估了该模型的适用性。实验结果表明，载体静止时，优化多普勒测速精度可达cm/s级甚至mm/s级，在与原始多普勒测速的对比中，水平方向测速精度提高60%左右，解算时间缩短24%；载体运动时，增加航向约束的多普勒测速精度与原始多普勒测速相比，北、东方向测速精度可提高14%～21%，解算效率提升大约20%。

关键词: 北斗三号卫星, 多普勒, 航向, 松约束, 线性化

Abstract:

An optimized velocimetric model based on non-differential Doppler observations from BDS-3 satellites with high accuracy and low model complexity was proposed to address insufficient accuracy and low efficiency of velocity estimation method.The observation data from BDS-3 satellites was used to estimate the carrier velocity by using Doppler velocimetric model with low complexity.In order to improve velocity estimation accuracy and solving efficiency, firstly, the model was linearized, and then loose constraints was added based on the correlation between the carrier heading and its velocity vector.The velocity measurement accuracy of the model was verified with field-collected BDS-3 observations, and the applicability of the model was evaluated.The experimental results show that: when the carrier is stationary, the optimized Doppler velocimetry accuracy can reach cm/s or even mm/s level, and in the comparison with the original Doppler velocimetry, the horizontal velocity accuracy was improved by about 60% and the solution time was shortened by 24%;when the carrier is moving, the Doppler velocimetry accuracy with heading constraints can be improved by 14% ~ 21% in north and east compared with the original Doppler velocimetry, and the solution time was improved by about 20%.

Key words: BDS-3 satellites, Doppler, heading, loose constrain, linearization

中图分类号:

P228

王泽杰, 王潜心, 商天文. 基于北斗三号卫星非差多普勒观测信号的优化测速模型[J]. 电信科学, 2021, 37(12): 42-50.

Zejie WANG, Qianxin WANG, Tianwen SHANG. Optimal velocity estimation model based on non-differential Doppler observations from BDS-3 satellites[J]. Telecommunications Science, 2021, 37(12): 42-50.

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静态/(cm·s^-1)	误差均值			均方根误差				用时/s
静态/(cm·s^-1)	N	E	U	N	E	U	N-E	用时/s
方案一	1.40	-6.13	6.64	1.95	6.22	6.52	7.30	4.89
方案二	0.31	-1.34	6.75	0.73	2.16	6.48	2.42	3.70
方案三	0.00	0.00	-0.01	0.25	0.39	0.47	1.27	10.19

动态/(dm·s^-1)	均方根误差			用时/s
动态/(dm·s^-1)	N	E	U	用时/s
原始非差多普勒测速	2.24	3.25	5.01	2.38
优化非差多普勒测速	1.93	2.45	4.92	1.86

基于北斗三号卫星非差多普勒观测信号的优化测速模型

Optimal velocity estimation model based on non-differential Doppler observations from BDS-3 satellites

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