40 4 20154 GeomaticsandInformationScienceofWuhanUniversity Vol.40No.4 Apr.2015 DOI:10.13203/j.whugis20130361 :1671-8860(2015)04-0529-05 /GPS 1 1 1 2 1 430079 2 400020 : /GPS /GPS /GPS GPS PDOP /GPS PDOP : ;GPS; ; ; :P228.1 :A GPS UTC BDT GPST 14s BDT GPST [1-2] BDT GPST (BDS) 14s BDS GNSS CGCS2000GPS GPS GNSS WGS84 [3] [7-8] CGCS2000 WGS84 cm [9] [4-6] GPS BDT GPST BDS/GPS BDS/GPS 1.2 1 BDS/GPS ρ 1.1 i = BDSGPS 槡 (X i -x) 2 + (Y i -y) 2 + (Z i -z) 2 -cv tr GPS + c(v ts ) i - (V ion ) i - (V trop ) i (i=12 m) (BDT)GPS(GPST) (1) BDT 200611 :2013-07-26 : (9140A24020713JB11342); (51324040103); 863 (2012AA12A202) : ρj = GPSBDS (UTC)0 0 0 GPST 槡 (X j -x) 2 + (Y j -y) 2 + (Z j -z) 2 -cv tr BD + 198016UTC00 0 c(v ts ) i - (V ion ) i - (V trop ) i (j=12 n) : GNSS E-mail:wmtang@whu.edu.cn (2)
530 20154 i j GPS BDS ; (xyz) ;(X i Y i Z i )(X j Y j Z j ) GPSBDS ;V GPS V tr BD GPSBDS ;V ts V ion V trop tr ; ρ : 0 ~90 270 ~360 [8] ;c (1) (2) (x 0 y0 0 ~45 135 ~225 315 ~360 ;2 z 0 ) : V 1 l 熿燄 1 m 1 n 1 1 0 L 熿燄 dx 熿 1 燄 熿燄 dy V m l m m m n m 1 0 L m = dz - V m+1 l m+1 m m+1 n m+1 0 1 L m+1 V m+ n 燅 燀 燀燀 l m+n m m+n n m+n 0 1 燅 Xk-x0 cv tr GPS cv tr BD 燅 燀 L m+ n 燅 (3) =l k Yk-y0 =m k Zk-z0 =n k (k= Tab.1 12 m+n) k 0 ; ρk k ;dx dy dz ; : L k = -ρ k +c (V ts ) k - (V ion ) k - (V trop ) k (4) (3) B ^x L P : ^x = (B T PB) -1 B T PL (5) 1 3 18BDS GPS 1 5 BDSB1GPSL1 4 ; CODE 9BDS [8] 1~2 ; / Hopfield [10] BDS 5 BDS GPS GPS BDS/GPS BDSGPS BDS GEO IGSO [7] 5 GEO 5 GEO 2 (BJF1) (CENT) 20131 23 1sBDSGPS4 GPSMEO : 1) : 2) 1: 0 ~180 ;2 : 90 ~270 ;3 : 180 ~360 ;4 3) / 1 : : 45 ~135 225 ~315 2.1 PDOP (PDOP) [11] BDS GPS BDS/GPS 1d 1 1 1d / MeanValuesofVisibleSatelitesforAl EpochesinOneDay / BDS 9.57 5.96 1.66 3.60 7.91 4.59 4.98 GPS 8.54 4.04 4.70 4.50 3.84 5.60 2.94 B/G 18.1 10.0 6.36 8.11 11.8 10.2 7.93 BDS 9.92 6.06 2.05 3.86 7.87 4.45 5.48 GPS 8.64 4.14 4.84 4.50 3.80 4.51 4.12 B/G 18.6 10.2 6.88 8.36 11.7 8.96 9.60 :B/G BDS/GPS BDS/GPS GPS 4 BDS 1~2 BDS
40 4 : /GPS 531 PDOP 2 2 PDOP (13) PDOP (13) BDS GPS (110) PDOP 2 PDOP (13)(110) /% 3 100%; PDOP Tab.2 PDOP Valuein (13)and (110)Interval/% / / 10 100% / 10 BDS 98.7 0 0 0 40.3 10.9 0 <3 GPS 98.0 4.1 2.7 3.4 3.9 45.5 5.7 90% 10 B/G 100 28.6 6.9 17.2 91.0 94.3 26.0 80% BDS 100 76.5 0 23.8 96.3 85.3 56.1 2.2 <10 GPS 100 50.4 68.7 65.6 50.9 93.7 26.0 B/G 100 100 81.2 92.8 100 100 94.1 (N BDS 99.6 0 0 0 44.5 2.7 2.3 <3 GPS 96.7 6.8 4.8 1.8 1.3 20.2 23.0 EU) (H) (U) B/G 100 32.8 13.9 18.6 91.6 76.2 64.2 H = 槡 N 2 +E 2 BDS 100 84.0 1.2 25.7 98.4 79.2 69.6 1 ( <10 GPS 100 56.0 80.4 62.2 46.1 73.4 53.4 ) B/G 100 100 88.6 90.4 100 100 99.8 1 BJF1 () () Fig.1 PositioningBiasofBJF1in HorizontalPlain (left)andelevation (right) BDS GPS ; BDS/GPS BDS/GPS1d RMS BDSGPS 6.71m 2.40m 3.59m GPS [12] RMS5.72m 3.18m 3.84m 1 BDS 1 GPS 100% BDS/GPS BDS 54.7% :BDS GPS 4.5%;GPS 4 BDS 60%;BDS/GPS
532 20154 90% 100% BDS m 90.6% GPSBDS 100% / RMS100m 16.3 m 9.4 m; GPS RMS 100 mbds 13.3m 11.3m 6.1m 5.9m 1 GPS 4 GPS ;50 m 100m BDS GPS / 1 97%100m 100% 2 PDOP (13)(110) 3 3 5 BDS/GPS BDS GPS PDOP :1BDS/GPS 3 /% Tab.3 Statisticsof3D NavigationUsability/% / /m BDS 2.9 1.48 0.01 0.03 1.6 1.8 0.3 5 GPS 76.40 16.9 24.3 16.4 20.4 47.6 9.3 B/G 60.74 22.0 23.4 8.6 19.0 44.7 2.9 BDS 80.04 22.8 0.5 2.0 51.1 51.0 6.3 10 GPS 99.95 37.7 57.4 53.6 38.5 87.7 19.2 B/G 99.75 57.2 58.1 48.6 81.6 91.3 27.1 BDS 99.93 64.2 1.2 7.1 87.5 85.2 45.7 20 GPS 99.99 56.3 77.9 78.4 51.0 94.8 25.4 B/G 99.99 96.0 76.5 84.9 99.0 100 80.4 BDS 100 98.6 1.8 34.0 99.1 85.3 80.0 50 GPS 100 65.0 85.4 87.7 61.0 96.4 27.7 B/G 100 100 87.5 99.5 100 100 97.6 BDS 100 100 2.5 50.9 99.6 85.3 86.0 100 GPS 100 66.8 87.4 88.9 62.8 96.7 28.1 B/G 100 100 90.6 100 100 100 98.9 [J].GeomaticsandInformation Scienceof Wuhan 10m GPS /GPS 99% 20 m 99.9% 50 m 100% 100m 100 5m 10m GPS GPS GPS PDOP 2 100 m 10% 3 BDS/GPS 50m 97%( ) 100m 90% [1] PirtiA.AccuracyAnalysisofGPSPositioningnear theforestenvironment[j].croatian Journalof ForestEngineering200829(2):189-199 [2] WangZeminMengYangWuYueetal.DOPfor GPSGalileoand Combination Navigation System University200631(1):9-11(.GPS Galileo DOP [J]. 200631 (1):9-11) [3] YangYuanxi.ProgressContributionandChalen- gesofcompass/beidousatelitenavigationsystem 50.9%2.5% [J].Acta Geodaetica et Cartographica Sinica 100%99.6% ; 201039(1):1-6(.
40 4 : /GPS 533 [J]. 201039(1):1-6) [8] Kong Xiangyuan Guo Jiming Liu Zongquan. [4] Chen H CHuang Y SChiang K Wetal.The PerformanceComparisonBetweenGPSandBeiDou- 2/Compass:A Perspectivefrom Asia[J].Journal ofthe ChineseInstituteof Engineers200932 (5):679-689 [5] YangXinchunLiZhenghangWuYun.ThePer- formance Analysis of Constelation and XPL for Compass[J].Acta Geodaetica et Cartographica Sinica201140:68-72(. XPL [J]. 201140:68-72) tionofsateliteconstelationframeworkofcaps [J].Sciencein China20093:458-471(. [J].SystemsEngineering and Electronics2000 [J]. 20093:458-471) [7] ChinaSatelite Navigation OficeBeiDou Navigation [6] HanYanbenMaLihuaQiaoQiyuanetal.Selec- SateliteSystemSignalinSpaceInterfaceControlDocu- mentopenservicesignalb1i(version1.0)[r].bei- jing:chinasatelitenavigationofice2012(. ShortBaselinesUsingCombined GPS/BeiDouSys- B1I(1.0 )[R]. : 2012) FoundationofGeodesy[M].Wuhan:Wuhan Uni- versitypress2005(. [M]. : 2005) [9] WeiZiqing.ChinaGeodeticCoordinateSystem2000 anditscomparison with WGS84[J].Journalof Geodesy and Geodynamics200828(5):1-5(.2000 WGS84 [J]. 200828(5):1-5) [10] WeiZiqingGe Maorong. Mathematic Modelof GPSRelativePositioning[M].Beijing:Surveying and MappingPress1998(.GPS [M]. : 1998) [11]Liu HuijieZhangNaitong.ResearchonConstela- tionvisibilityforglobalnavigationsatelitesystem 22(5):23-25(. [J]. 200022(5):23-25) [12]DengChenlongTang WeimingLiuJingnanetal. Reliable Single-epoch Ambiguity Resolution for 0337-5 TestandAnalysisofBeiDou/GPSCombinedPseudo-range PointPositioningPerformance TANG Weiming 1 XU Kun 1 JIN Lei 1 WEN Xuezhong 2 1 ResearchCenterofGNSSWuhanUniversityWuhan430079China 2 ChongqingSurveyInstituteChongqing400020China tem[j].gps SolutionsDOI10.1007/s10291-013- Abstract:Thispaperfirstdiscussedthe mathematicalmodelofbeidou/gpscombinedpseudo-range pointpositioning.andthenobservationaldataofbeijingand Wuhanstationswasusedtocompare BeiDou/GPScombinedsolutionresultswithBeiDouandGPSsinglesystemsolutionresultsontheas- pectsofsatelitevisibilitypdop valuepositioningaccuracyand usabilityin multiplesimulative maskingenvironment.thenumericalresultsshowedthatcomparedwiththepseudo-rangepointposi- tioningofasinglesystembeidou/gpscombinedpositioninggreatlyincreasesthenumberofvisible satelitesandreducesthepdopvalue.inadditionthecombinedsystemcanefectivelyimprovethe positioningaccuracyandtheusabilityunderpoorobservationconditions. Keywords:BeiDouSystem;GPS;pseudo-rangepointpositioning;combinedsolution;usability Firstauthor:TANG WeimingPhDprofessorhisresearchfieldsincludeapplicationdevelopmentandsystemintegrationofGNSSreal- timekinematicpositioning.e-mail:wmtang@whu.edu.cn Foundationsupport:ThePre-researchFundProgramNo.9140A24020713JB11342;Pre-researchFundProgramofthe12thFive-Year PlanPeriodNo.51324040103;the NationalHigh Technology Researchand DevelopmentProgram ofchina (863 Program)No. 2012AA12A202.